Download SMC LECPA User`s Manual

Doc. no. LEC-OM04502
PRODUCT NAME
Step Motor Driver
(Pulse input type)
MODEL / Series / Product Number
LECPA Series
Contents
1. Safety Instructions..........................................................................................5
2. Product Outline ...............................................................................................7
2.1 Product features ........................................................................................7
2.2 How to Order..............................................................................................8
2.3 Product configuration ...............................................................................9
2.4 Start up Procedures ................................................................................10
(1) Confirmation of the package content .................................................10
(2) Installation.............................................................................................10
(3) Wiring and connection .........................................................................10
(4) Power ON alarm (error) ........................................................................10
(5) Operation pattern setting .....................................................................11
(6) Trial run (actuator adjustment)............................................................11
3. Product Specifications .................................................................................12
3.1 Basic specifications ................................................................................12
3.2 Parts description .....................................................................................13
3.3 Outside dimension diagram ...................................................................14
(1) Screw mount type (LECPA**-*) ............................................................14
(2) DIN rail mount type (LECPA**D-*)........................................................14
3.4 How to install ...........................................................................................15
(1) How to install ........................................................................................15
(2) Ground wire connection ......................................................................15
(3) Installation location ..............................................................................16
4. External Wiring Diagram ..............................................................................17
4.1 CN1: Power connector ............................................................................17
4.2 CN2: Motor power connector and CN3: Encoder connector ...............17
4.3 CN4: Serial I/O connector .......................................................................17
(1) Connection with the teaching box ......................................................17
(2) Connection with a PC...........................................................................18
4.4 CN5: Parallel I/O connector ....................................................................18
5. CN1: Power supply plug...............................................................................19
5.1 Power supply plug specifications..........................................................19
5.2 Electric wire specifications.....................................................................19
5.3 Wiring of power supply plug ..................................................................20
(1) Wiring of the power supply..................................................................20
(2) Wiring of the stop switch .....................................................................20
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(3) Wiring of the lock release ....................................................................20
5.4 Stop circuits .............................................................................................21
(1) Example circuit 1- Single driver with teaching Box...........................21
(2) Example circuit 2 - multiple drivers (Stop relay contact (1)).............22
(3) Example circuit 3 - Motor power shutdown (Stop relay contact (2)) 23
6. CN5: Parallel l/O Connector .........................................................................24
6.1 Parallel I/O specifications .......................................................................24
6.2 Parallel I/O type (NPN/PNP type) ............................................................24
(1) Parallel I/O input circuit (same for both NPN and PNP type) ............24
(2) Parallel I/O output circuit .....................................................................24
(3) Pulse signal input circuit .....................................................................25
6.3 The parallel I/O signal is detailed ...........................................................26
6.4 Parallel I/O connector wiring (Example) ................................................28
7. Setting Data Entry .........................................................................................30
7.1 Step data...................................................................................................30
7.2 Basic parameter.......................................................................................32
7.3 Return to origin parameter .....................................................................36
8. Operations explanation ................................................................................37
8.1 Return to origin........................................................................................37
8.2 Positioning operation..............................................................................37
8.3 Pushing operation ...................................................................................38
8.4 Response time for the driver input signal .............................................39
8.5 Methods of interrupting operation .........................................................39
9. Operation (example) .....................................................................................40
9.1 Positioning operation..............................................................................40
9.2 Pushing operation ...................................................................................41
9.3 Pushing operation ...................................................................................42
10. Operation instruction..................................................................................44
10.1 Outline of the operation instruction.....................................................44
10.2 Procedures with the Parallel I/O...........................................................44
[1] Power on → Return to origin .............................................................44
[2] Positioning operation...........................................................................45
[3] Pushing operation ................................................................................46
[4] Alarm reset............................................................................................47
[5] Deviation reset......................................................................................47
[6] Stop (EMG) ............................................................................................47
[7] Area output............................................................................................48
-2-
11. Option...........................................................................................................49
11.1 Actuator cable (5m or less) ...................................................................49
11.2 Actuator cable (8-20m) ..........................................................................49
11.3 Actuator cable for with lock (5m or less) .............................................50
11.4 Actuator cable for with lock (8-20m) ....................................................50
11.5 I/O Cable .................................................................................................51
11.6 Controller setting kit..............................................................................51
11.7 Teaching box..........................................................................................52
11.8 Noise filter set ........................................................................................52
12. Alarm Detection...........................................................................................53
12.1 Parallel output for the alarm group ......................................................53
12.2 Alarm details ..........................................................................................54
13. Wiring of cables/Common precautions.....................................................59
14. Electric actuators/Common precautions ..................................................60
14.1 Design and selection.............................................................................60
14.2 Mounting ................................................................................................61
14.3 Handling .................................................................................................62
14.4 Operating environment .........................................................................63
14.5 Maintenance...........................................................................................64
14.6 Precautions for actuator with lock .......................................................64
15. Driver and its peripheral devices /Specific product precautions ......................65
15.1 Design and selection.............................................................................65
15.2 Handling .................................................................................................65
15.3 Installation..............................................................................................67
15.4 Wiring of cables.....................................................................................67
15.5 Power supply .........................................................................................68
15.6 Grounding ..............................................................................................68
15.7 Maintenance...........................................................................................68
16. Troubleshooting..........................................................................................69
16.1 Operation trouble ..................................................................................69
16.2 Position/Speed trouble..........................................................................72
Appendix 1. Default setting value per actuator ..............................................74
Appendix 1.1 LEY/LEYG series setting value .............................................74
Appendix 1.2 LEF series setting value ........................................................76
Appendix 1.3 LES series setting value ........................................................80
-3-
Appendix 1.4 LEHZ series setting value......................................................82
Appendix 1.5 LER series setting value ........................................................88
Appendix 1.6 LEP series setting value ........................................................90
-4-
LECPA Series/ Driver
1. Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage.
These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or
“Danger.”
They are all important notes for safety and must be followed in addition to International Standards
(ISO/IEC), Japan Industrial Standards (JIS)*1) and other safety regulations*2).
*1) ISO 4414: Pneumatic fluid power -- General rules relating to systems
ISO 4413: Hydraulic fluid power -- General rules relating to systems
IEC 60204-1: Safety of machinery -- Electrical equipment of machines (Part 1: General requirements)
ISO 10218-1992: Manipulating industrial robots -- Safety
JIS B 8370: General rules for pneumatic equipment.
JIS B 8361: General rules for hydraulic equipment.
JIS B 9960-1: Safety of machinery – Electrical equipment for machines. (Part 1: General requirements)
JIS B 8433-1993: Manipulating industrial robots - Safety. etc.
*2) Labor Safety and Sanitation Law, etc.
Caution
Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or
moderate injury.
Warning
Warning indicates a hazard with a medium level of risk which, if not avoided, could result in
Danger
Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or
death or serious injury.
serious injury.
Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment or
decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications based on
necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person who
has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog
information, with a view to giving due consideration to any possibility of equipment failure when configuring the
equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly.
The assembly, operation and maintenance of machines or equipment including our products must be
performed by an operator who is appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
The inspection and maintenance of machinery/equipment should only be performed after measures to prevent
falling or runaway of the driven objects have been confirmed.
When the product is to be removed, confirm that the safety measures as mentioned above are implemented
and the power from any appropriate source is cut, and read and understand the specific product precautions
of all relevant products carefully.
Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Contact SMC beforehand and take special consideration of safety measures if the product is to
be used in any of the following conditions.
1) Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,
vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and
beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other
applications unsuitable for the standard specifications described in the product catalog.
3) An application which could have negative effects on people, property, or animals requiring special safety
analysis.
4) Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a
mechanical protective function, and periodical checks to confirm proper operation.
-5-
LECPA Series/ Driver
1. Safety Instructions
Caution
The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries, consult SMC beforehand and exchange specifications
or a contract if necessary.
If anything is unclear, contact your nearest sales branch.
Limited warranty and Disclaimer/Compliance Requirements
The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.
Limited warranty and Disclaimer
The warranty period of the product is 1 year in service or 1.5 years after the product is delivered.*3)
Also, the product may have specified durability, running distance or replacement parts. Please
consult your nearest sales branch.
For any failure or damage reported within the warranty period which is clearly our responsibility, a
replacement product or necessary parts will be provided.
This limited warranty applies only to our product independently, and not to any other damage
incurred due to the failure of the product.
Prior to using SMC products, please read and understand the warranty terms and disclaimers noted
in the specified catalog for the particular products.
*3) Vacuum pads are excluded from this 1 year warranty.
A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.
Also, even within the warranty period, the wear of a product due to the use of the vacuum pad or
failure due to the deterioration of rubber material are not covered by the limited warranty.
Compliance Requirements
When the product is exported, strictly follow the laws required by the Ministry of Economy, Trade and
Industry (Foreign Exchange and Foreign Trade Control Law).
-6-
2. Product Outline
2.1 Product features
The followings are the main functions of this driver:

Actuator control
Positioning according to the pulse signal is available by servo control.

Separated power supply
Power supply input is separated into the motor power supply and control power supply. Even if
the power supply for the motor is turned off, the information of the encoder position is not lost
while the control power supply is on, and serial communication is available.

Return to origin
Return the actuator to the home position by sending a single signal to a dedicated terminal.

Alarm detection function
Automatically detect the abnormal conditions and output the appropriate alarm signal via the serial
interface and parallel I/O. The alarm information (up to the last 8 alarms) will be recorded into the
memory in the driver.

Data input method
It is possible to perform a parameter setup, status monitoring, trial run and alarm reset via the
serial communication with a PC installed with the controller setting software or the teaching box.

Operation with specified thrust
The holding force and pushing force of the actuator can be controlled.
Caution
1. The operation with specified thrust is available for driver version 1.60 or more.
Please refer to the “3.2 Parts description (page 13)” for the confirm method of the driver version.
2. Please keep this manual safe for future use. It will be necessary to refer to this manual along with the
teaching box and the setting software manuals at installation and faultfinding.
-7-
2.2 How to Order
The part number construction for this product is as follows:
LE C PAN
Actuator part number
Compatible motor
P
Step motor (Servo / 24VDC)
(“LE” to “Stroke” of the actuator part number)
Example: If “LEFS16A-300” is the complete
Controller type
A
actuator part number, “LEFS16A-300” will come
Pulse input type
here.
Parallel I/O type
N
NPN type
P
PNPtype
I/O cable length
Nil
None
1
1.5m
3
3m*
5
5m*
DIN rail
*Available only when differential
Nil
Not mountable.
D
Mountable
pulse input.
Only 1.5m cable is available for
open collector.
Caution
The driver and actuator are factory set Confirm the combination of the driver
and the actuator is correct.
<Check the following before use>
(1) Check the actuator label for model number.
This matches the driver.
(2) Check parallel I/O configuration matches (NPN or PNP).
(1)
LEFS16A-300
NPN
(2)
-8-
2.3 Product configuration
The product configuration of this driver is as follows.
(*1)
●I/O cable
Part No:LEC-CL5-
(*1)
●Electric Actuator
Connect the ground
PLC
●Driver
Power supply
24VDC
(*3)
To CN5
Option
To CN4
●Actuator cable
Part No:
LE-CP-*-*
(Robotic type cable)
LE-CP-*-*-S
(Standard cable)
(*3)
●Communication
cable
To CN4
(*1)
To CN3
(*2)
●Conversion
unit
or
To CN2
モニ タ
現 在位 置
現 在速 度
設定
120.3 mm
200 mm/s
位置
動作 中
ア ラーム
速度
1
ﾃｽﾄ
100
500
2
ﾃｽﾄ
ﾃｽﾄ
200
50
1000
3
200
To CN1
Driver power supply
24VDC
PC
●Power supply plug
<Applicable cable size>
AWG20 (0.5mm2)
●Teaching box
(with 3m cable)
Part No:LEC-T1-3EG
●USB cable
(A-miniB type)
●Controller setting kit
(Controller setting software,
Communication cable,
Conversion unit and
USB cable are included.)
Part No:LEC-W2
(*1) These items are included when it is selected by ordering code.
(*2) When the controller setting software/version is earlier than V1.2, please upgrade the controller
setting software. Upgrade software be able to download on SMC website.
http://www.smcworld.com/
(*3) When conformity to UL is required, the electric actuator and driver should be used with a
UL1310 Class 2 power supply.
Warning
Check all the connections as shown in section 4 and diagrams shown on page 17. Pay special
attention to details in section 13 on page 59.
Please connect to the personal computer communication cable with the USB port cable via the
conversion unit.
Do not connect the teaching box directly to the personal computer.
Do not use LAN cable to connect to the driver, it will cause damage to the personal computer.
-9-
2.4 Start up Procedures
Before using this driver, please connect cables and startup using the following procedures.
(1) Confirmation of the package content
When you open the product package for the first time; please check the package contents to confirm
the driver, label indication, quantity of accessories, etc. are correct.
Item
Quantity
Driver (LECPA***-*)
1 unit
Power supply plug
1 piece
I/O cable(*) (LEC-CL5-*)
1 piece
Actuator
(*)
I/O cable
Power supply plug
Actuator cable
1 unit
(*)
Actuator cable
(LE-CP-*-*-*)
(*)
Driver
1 piece
These items are included if you ordered by the part number for a set of driver and actuator.
Option
Teaching box
Controller setting kit
Teaching box (part number: LEC-T1-3*G*)
Controller setting kit (part number: LEC-W2)
[Controller setting software, communication
cable, USB cable and conversion unit are
included.]
* In case of any shortages or damaged parts, please contact the selling office.
(2) Installation
Please refer to the “3.4 How to install (page 15)”.
(3) Wiring and connection
Connect cables, etc. to the connector (CN1 to CN5) of the driver.
Please refer to the “4. External Wiring Diagram (page 17)” for the wiring of the connectors.
(4) Power ON alarm (error)
Ensure the stop is not activated and then supply 24VDC power.
LED color
Status
Function
Green
Normal
POWER
Red
Error
ALARM
Driver
If the LED [PWR] lights in green, the driver is in the normal condition.
However, if the LED [ALM] lights in red, the driver is in the alarm (error) condition.
- 10 -
Caution
In case of alarm (error) condition:
Connect a PC or the teaching box to the CN4 serial I/O connector and check the details of the alarm.
Then, remove the cause of the error referring to the “12. Alarm Detection (page 53)”.
* Please refer to the manuals of the controller setting software or the teaching box for details of the
alarms.
(5) Operation pattern setting
Setup the operation pattern (step data, basic parameter and return to origin parameters) by using a
PC (with the controller setting software) or the teaching box.
Refer to “7. Setting Data Entry (page 30)” for details.
 PC (Normal mode)
 Teaching box
A
Please refer to the manuals of the controller setting software or the teaching box for how to setup
the operation pattern.
A: Status window
[1] Counts of input pulses
The pulse number input from the positioning unit is
displayed. However, please take care that under the
situation that the driver doesn't count the pulse (The SVRE
power output: turning off, the return to origin inside, and CLR
input: turn on, Test in operation by controller setting
software/teaching box), this value is changed.
[1]
[2]
[2] Value converted into pulse
The values about the speed and the target position, current position converted into the pulse
number are displayed. Conversion formula is shown in below.
Position [Pulse]
= Position [mm] / Actuator lead [mm/rotation] x 800 [Pulse/rotation] x electronic gear
(denominator) / electronic gear (numerator)
Speed [Pulse/sec]
= Speed [mm/s] / Actuator lead [mm/rotation] x 800 [Pulse/rotation] x electronic gear
(denominator) / electronic gear (numerator)
* Please refer to “7.2 Basic parameter (page 32)” for electronic gear (denominator, numerator).
(6) Trial run (actuator adjustment)
After confirming that an unexpected operation can be stopped externally, check the operation by
inputting the pulse signal from the positioning unit.
- 11 -
3. Product Specifications
3.1 Basic specifications
The basic specifications of this driver are as follows:
Item
Specifications
Compatible motor
Compatible encoder
Step Motor (Servo / 24VDC)
Incremental A/B phase(800 pluse/rotation)
Power voltage:24VDC +/-10%
Power supply
(*1) (*3)
Max.current consumption: 3A(Peak 5A) (*2)
(for both of motor drive power,control power,stop,lock brake release)
Parallel input
Parallel output
5 inputs (photo-coupler isolation)
Except pulse signal input terminal and COM terminal
Output 9 points (Photo coupler insulation)
Open collector input
Pulse signal input
Maximum
frequency
Input type
Serial communication
Memory
LED indicator
Lock control
Differential input
60kpps
200kpps
1 pulse mode
(Direction and pulse input)
2 pulse mode
(Pulse for each direction)
1 pulse mode
(Direction and pulse input)
2 pulse mode
(Pulse for each direction)
Conforming to RS485
EEPROM
2 of LED’s (green and red)
Forced-lock release terminal
I/O cable:1.5m or less (Open collector input)
Cable length
5m or less (Differential input)
Actuator cable: 20m or less
Cooling system
Operating
temperature range
Operating humidity
range
Storage temperature
range
Storage humidity
range
Insulation resistance
Mass
Natural air cooling
0– 40oC(No freezing)
90%RH or less (No condensation)
-10 – 60oC (No freezing)
90%RH or less (No condensation)
Between the housing (radiation fin) and FG terminal
50MΩ (500VDC)
120g(screw mount type)
140g(DIN rail mount type)
(*1) The driver power supply do not use the power supply of “rush-current restraining type”.
(*2) The power consumption changes depending on the actuator model.
Please refer to the specifications of actuator for more details.
(*3) When conformity to UL is required, the electric actuator and driver should be used with a
UL1310 Class 2 power supply.
- 12 -
3.2 Parts description
The detailed descriptions of each part are as follows.
Side (driver version)
(1)
(2)
(3)
(8)
Driver I/O type
Driver version label
(Ex.) Driver I/O type "NPN type"
Driver version "V1.00"
NPN V１.00
(4)
(9)
(5)
(6)
(7)
ARX830007
Driver serial No. label
(10)
Side
No.
Label
Name
Description
Power ON/No alarm: Green light
Data (step data, parameter) writing /green light flashing
1
PWR
caution
Power LED (green)
Do not turn off the driver input power or remove the cable
while data is being written (green light flashing).
*Data (step data, parameter) may not be written correctly.
2
ALM
3
CN5
4
CN4
5
CN3
6
CN2
Power LED (red)
Parallel I/O
Connector (20pins)
Serial I/O
Connector (8 pins)
Encoder connector
(16 pins)
Motor power
connector (6 pins)
7
CN1
Power connector
(5 pins)
8
-
Compatible actuator
label
9
-
Driver label
10
-
FG
Power ON/Alarm: Red light
Used to connect PLC, etc. with the I/O cable.
Used to connect the teaching box, PC, etc.
Used to connect the actuator cable.
Used to connect the driver power supply (24VDC) with the
power supply plug.
Common power(-),Motor power (+),Control power(+),Stop
signal(+),Lock release(+)
The label indicating the applicable actuator model.
It also indicates the type of the parallel I/O (PNP/NPN).
The label indicating the part number of the driver.
Functional ground
(When the driver is mounted, tighten screws and connect the
grounding cable.)
- 13 -
3.3 Outside dimension diagram
The outside view of this product is as shown in the diagram below:
(1) Screw mount type (LECPA**-*)
66
1.2
φ4.5
For body φ4.5
mounting 本体取付用
109
116
125
35
4.5
For body
mounting
(2) DIN rail mount type (LECPA**D-*)
148.2(Detached from DIN rail)
39.2
35
109
142.3(When DIN rail is locked)
148.2(Detached from DIN rail)
142.3(When DIN rail is locked)
76
35
*35mm DIN rail
mounting
- 14 -
3.4 How to install
(1) How to install
The followings are the descriptions on how to install each driver.
[1] Screw mount type (LECPA**-*)
[2] DIN rail mount type (LECPA**D-*)
(Installation with the DIN rail)
(Installation with two M4 screws)
Ground wire
Ground wire
Screw direction
DIN rail
Screw direction
A
Hook the controller on the DIN rail and
press the lever of section A in the arrow
direction to lock it.
(2) Ground wire connection
Put the cable with crimped terminal between the M4 thread and toothed washer and tighten the thread
as shown below.
M4 screw
Cable with crimping terminal
Toothed washer
Driver
Caution
The M4 screw, cable with crimping terminal, and toothed washer should be obtained separately.
Ground the driver to shield it from electric noise.
- 15 -
Caution
(1) The earthling should be the dedicated grounding point. It should be a functional ground with less
than 100 Ω resistance.
(2) The cross section of the grounding wire should be greater than 2mm2.
The ground point should be near this driver to make the wire length shorter.
Driver
Driver
Other device
Recommended Functional grounding
Other device
Not Recommended grounding
(3) Installation location
Please install this driver at an appropriate place where the surrounding temperature will not
exceed 40oC.
As shown in the diagrams below, the driver should be installed on a vertical wall with 30 / 50mm or larger
spaces above and below it. In addition, there should be 60mm or larger space between the driver and
the facing cover (the housing) so that it is possible to connect/disconnect the driver. The drivers should
be positioned appropriately with enough spaces to keep it within the above mentioned operating
temperature range.
Place supplys of vibration like a large-size electromagnetic contactor, no-fuse current chopper, etc. to be
mounted on a different panel or away from the driver.
10mm or more
Door (Lid)
30mm or more
Driver
30mm or more
(screw mount)
60mm or more
Caution
Install the driver on a flat surface. Excessive pressure applied to the housing will damage the driver.
- 16 -
4. External Wiring Diagram
The typical connections for each connector of this driver (CN1 to CN5) are as shown below.
4.1 CN1: Power connector
Driver
CN1
Driver power supply
24VDC
Power cable
(The 24VDC power supply and the power cable should be obtained separately.)
* Please refer to “5. CN1: Power supply plug (page 19)” for how to wire the CN1 connector.
Caution
The driver power supply (24VDC) do not use the power supply of “rush-current restraining type”.
4.2 CN2: Motor power connector and CN3: Encoder connector
Connect the driver and the actuator with the actuator cable (LE-CP-*-*-*).
Driver
CN3
Actuator
Actuator cable
Motor
CN2
4.3 CN4: Serial I/O connector
(1) Connection with the teaching box
Driver
Teaching box
CN4
(The 3m cable is provided.)
- 17 -
(2) Connection with a PC
*Controller setting kit
(Controller setting software, communication
cable, USB cable and the conversion unit are
provided.)
Driver
CN4
Conversion
unit
Communication
USB cable
(A-miniB type connector)
モニタ
現在位置
現在速度
設定
120.3 mm
200 mm/s
位置
動作中
アラーム
速度
1
ﾃｽﾄ
100
500
2
ﾃｽﾄ
200
1000
3
ﾃｽﾄ
50
200
cable
PC
(The PC should be obtained separately.)
4.4 CN5: Parallel I/O connector
Driver
PLC, etc.
CN5
I/O cable
(The PLC, etc. should be obtained separately.)
* Please refer to “6.4 Parallel I/O connector wiring (Example) (page 28)” for how to wire the CN5
driver.
* Please refer to “6.3 The parallel I/O signal is detailed (page 26)” for details of each signal of
parallel I/O.
Caution
(1)Ground the both I/O cable ends for the protection from the noise.
(2)Ground the cable end at the positioning unit side with metal cable clamp so that the entire
circumference of I/O cable shield contacts the clamp. Keep the stripped part of shield as short as
possible.
P clip
U clip
- 18 -
5. CN1: Power supply plug
5.1 Power supply plug specifications
The specifications of the provided power supply plug are as follows.
Power supply plug
Terminal
Function
BK RLS
0V
M24V
C24V
EMG
0V
Descriptions
Common power (-)
The negative common power for M24V,
C24V, EMG and BK RLS.
The positive power for the actuator motor to
M24V
Motor power (+)
C24V
Control power (+)
The positive control power.
EMG
Stop signal(+)
The positive power for Stop signal.
Lock release (+)
The positive power for lock release.
BK RLS
be supplied via the driver.
5.2 Electric wire specifications
Prepare electric wire according to the following specification.
Item
Specifications
2
Applicable
wire size
AWG20 (0.5mm ): Single line, No insulation sleeve, Twisted wire with
bar terminal
* The rated temperature for the insulation coating: 60oC or more.
Stripped
section length
8mm
Caution
Multiple electric wires should not be connected to one terminal.
After the wiring of the power supply plug is completed, connect it to the CN1 connector of the driver.
Please refer to “5.3 Wiring of power supply plug (page 20)” for how to wire the power supply plug.
Driver
Power supply plug
Insert into CN1
- 19 -
5.3 Wiring of power supply plug
Connect the power supply plug to the 24VDC driver power supply according to instructions (1) (2) and
(3) and then, insert it into the CN1 connector of the driver.
(1) Wiring of the power supply
Connect the positive of the 24VDC driver power supply to the C24V and M24V. And connect the
negative of that power supply to the 0V terminal.
①Open/Close lever
Press these levers with the special driver,
etc. and insert electric wires into the
entries.
* Phoenix special driver (recommended)
(Part no: SZS0.4 x 2.0)
Wire entry
Power supply plug
BK RLS
EMG
C 24V
24V
0V
M 24V
0V
Driver
power supply
Caution
For driver input power supply (24VDC) use a power supply with a capadty not less than the “momentary
maximum power” of the actuator spedfications. Do not use “inrush-current restraining type”power supply.
(2) Wiring of the stop switch
Stop switch must be installed by the user to stop the actuator in abnormal situations.
Please refer to “5.4 Stop circuits (page 21)” for examples of how to wire stop switches.
(3) Wiring of the lock release
Actuators with lock will need a lock release switch fitted.
* The switch (24VDC, Contact capacity: 0.5A or more) should be obtained separately.
One terminal of the lock release switch should be connected to the 24VDC power supply and the other
should be connected to the BK RLS terminal. When this is switched on, the lock will be released forcibly.
Power supply plug
Lock release switch
BK RLS
EMG
C 24V
24V
0V
M 24V
0V
Controller
power supply
Caution
1. If the actuator is a non lock type, it is not necessary to wire the BK RLS terminal.
2. The terminal BK RLS must not energize while using only for the adjustment and the return treatment in
the emergency and usually operating.
- 20 -
5.4 Stop circuits
 The driver can provide a ‘controlled stop’when the +24 VDC is removed from the ‘EMG’ pin. In a
controlled stop condition the driver decelerates the actuator with maximum deceleration value for the
actuator.
 The stop switch on the teaching box causes a controlled stop if activated.
 For an Emergency stop the 24 VDC power supply should be disconnected from the motor (M24V).
(1) Example circuit 1- Single driver with teaching Box
When the teaching box is connected to the driver, the teaching box’s stop switch will become effective.
Teaching box
(with 3m cable)
Driver
Teaching box is
connected.
Stop switch
CN4
Stop signal
Teaching box is not
connected.
CN1
External stop circuit
EMG
C24V
M24V
Power
supply plug
24V
0V
0V
Driver
power supply
Warning
The teaching box’s stop switch is effective only to the driver that is connected with it.
When shutdown is input, the driver stops with maximum deceleration speed, then the motor is turned off.
- 21 -
(2) Example circuit 2 - multiple drivers (Stop relay contact (1))
If the system where this driver is installed has a stop circuit for whole system, or if the system has
multiple drivers with individual power supply, relay contacts should be made between the 24VDC driver
power supply and the EMG terminal of the power supply plug.
(Circuit example)
0V
24VDC
Reset switch
for stop
Ry
stop switch
Ry
Surge suppressor
Power supply plug
(the 1st driver)
BK RLS
EMG
Ry
C 24V
M 24V
0V
24V
0V
Driver
power supply
24V
0V
Driver
power supply
24V
0V
Driver
power supply
Power supply plug
(the 2nd driver)
BK RLS
EMG
Ry
C 24V
M 24V
0V
Power supply plug
(the 3rd driver)
BK RLS
EMG
Ry
C 24V
M 24V
0V
The relay must be a safety relay or monitored by a safety relay.
Caution
When shutdown is input, the driver stops with maximum deceleration speed, then the motor is turned off.
- 22 -
(3) Example circuit 3 - Motor power shutdown (Stop relay contact (2))
If there is a necessity to have circuit to shutdown the motor power externally, relay contacts should be
made between the 24VDC driver power supply and the M24V and EMG terminal of the power supply
plug.
(Circuit example)
24VDC
0V
Reset switch
for stop
Ry
stop switch
Ry
Surge suppressor
Power supply plug
(the 1st driver)
BK RLS
EMG
C 24V
M 24V
Ry
24V
0V
Driver
power supply
Ry
24V
0V
Driver
power supply
Ry
24V
0V
Driver
power supply
0V
Power supply plug
(the 2nd driver)
BK RLS
EMG
C 24V
M 24V
0V
Power supply plug
(the 3rd driver)
BK RLS
EMG
C 24V
M 24V
0V
The relay must be a safety relay or monitored by a safety relay.
Warning
1. Relay contacts should be made between the 24VDC driver power supply and the M24V and EMG
terminal of the power supply plug. The actuator may make unexpected movement.
2. Do not perform return to origin (SETUP input ON) when motor drive power (M24V) is disconnected.
The driver cannot recognize the correct origin point if a return to origin instruction is made with the
motor drive power (M24V) disconnected.
3. The terminal BK RLS must not energize when you disconnected motor drive power (M24V).
- 23 -
6. CN5: Parallel l/O Connector
6.1 Parallel I/O specifications
* Input specifications
* Output specifications
(NPN and PNP common, pulse
(NPN and PNP common)
signal input terminal is excluded.)
No.
Item
No.
Specification
Item
Specification
1
Input circuit
Internal circuit and photo
coupler isolation
1
Output circuit
Internal circuit and photo
coupler isolation
2
Number of
inputs
5 inputs
2
Number of outputs
9 outputs
3
Voltage
24VDC +/- 10%
3
Max. voltage between
terminal
30VDC
4
Max. output current
10mA supply/sink
5
Saturation voltage
4.0V (Max.)
4
5
Input current
when ON
Input Low Voltage
Threshold
3.5mA+/-20% (at 24VDC)
1.5 mA or less of curent
11V or less of voltage
6.2 Parallel I/O type (NPN/PNP type)
There are two types of parallel I/O for this driver: NPN type (LECPAN**-*) and PNP type (LECPAP**-*).
(1) Parallel I/O input circuit (same for both NPN and PNP type)
* NPN and PNP common, pulse signal input terminal is excluded.
NPN type
Outside
(a)
「COM+」<1>
(b)
SETUP<7> - TL<11>
Inside of the driver
(a)
1 kΩ
10 kΩ
PNP type
(a)
「COM-」<2>
(b)
SETUP<7> - TL<11>
(b)
(2) Parallel I/O output circuit
NPN type
Inside of the driver
Inside of the driver
Outside
Outside
BUSY<14>
-AREA<20>
TLOUT<12>
-WAREA<13>
10Ω
COM- <2>
10Ω
COM- <2>
PNP type
Inside of the driver
Outside
Outside
Inside of the driver
10Ω
10Ω
COM+ <1>
COM+ <1>
BUSY<14>
-AREA<20>
- 24 -
TLOUT<12>
-WAREA<13>
(3) Pulse signal input circuit
■Differential input
Connect the differential
output terminal of the
positioning unit to NP+/NPterminal and PP+/PPterminal directly.
Outside
Inside of the driver
NP+<3>/PP+<5>
1 kΩ
120 Ω
NP-<4>/PP-<6>
Caution
For differential input, connect the positioning unit using the line driver which is equivalent
to DC26C31T.
■Open collector input
Connect the current limit resistor R which is corresponding the pulse signal voltage in series.
Power supply for
Power supply voltage
for pulse signal
Current limit
resistor R type
24VDC+/-10%
3.3kΩ+/-5% (0.5W or more)
5VDC+/-5%
390Ω+/-5% (0.1W or more)
pulse signal
* The current limit resistance should be prepared by a customer.
Positioning
unit side
Inside of the driver
NP+ <3>
Current limiting
resistor R
1kΩ
NP- <4>
120Ω
PP+ <5>
Current limiting
resistor R
1kΩ
PP- <6>
120Ω
■Pulse input
Differential input
2μs or more
2.5V to 4.3V
*24V
21.6V to 26.4V
5μs or more
*5V
4.75V to 5.25V
0V
0.25μs or less
Open collector input
0.25μs or less
0V to 0.8V
3μs or less 5μs or moer 3μs or less
-2.5V to -4.3V
2μs or more
5μs or more
16μs or more
- 25 -
6.3 The parallel I/O signal is detailed
20
Pin No.
19
/
1
2
*
*Connected to the cable shield
Be sure to provide grounding.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Color of
Dot mark Dot color
insulation
Light brown
■
Black
Light brown
■
Red
Yellow
Black
■
Yellow
■
Red
Light green
Black
■
Light green
■
Red
Grey
Black
■
Grey
■
Red
White
Black
■
White
■
Red
Light brown
Black
■■
Light brown
Red
■■
Yellow
Black
■■
Yellow
Red
■■
Light green
Black
■■
Light green
Red
■■
Grey
Black
■■
Grey
Red
■■
White
Black
■■
White
Red
■■
Category
Terminal
24V
COM+
0V
COMPulse signal
NP+
Pulse signal
NPPulse signal
PP+
Pulse signal
PPInput
SETUP
Input
RESET
Input
SVON
Input
CLR
Input
TL
Output
TLOUT
Output
WAREA
Output
BUSY
Output
SETON
Output
INP
Output
SVRE
Output
*ESTOP
Output
*ALARM
Output
AREA
-Input sideTerminal
number
1
2
3
Function
COM+
COMNP+
4
NP-
5
PP+
6
7
PPSETUP
8
RESET
9
SVON
10
CLR
11
TL
Description
The terminal for the 24V of the 24VDC I/O signal power.
Connect the 0V side of the power supply (24VDC) for input / output signal.
Assignment of the function depends on the parameter which determines the
method for inputting the pulse signal (Basic parameter “Option1”)
Refer to “7.2 Basic parameter (page 32)”for details.
Function
2 pulse mode
1 pulse mode
PP+/PPNormal (CW) or reversed (CCW) pulse.
Pulse
NP+/NPReverse (CCW) or normal (CW) pulse.
Direction
*For 2 pulse type, PP is for normal rotation (CW), and NP is for reversed
rotation (CCW) as initial setting.
Command to Return to origin. Returning to home position starts when turned
on while the servo is ON.
Resets alarm. Alarm output is OFF when RESET is ON while alarm is
generated.
Specify the servo ON.When SVON is ON, the servo motor will be turned ON.
When this is OFF, the servo motor will be turned OFF.
Deviation reset signal.Signal to reset the difference between the movement
commanded by the pulse signal and the actual movement.
Cation
1. Clear the deviation counter when DCRT is turned ON from OFF.
(Recognized by the edge)
2. Actuator does not operate when the pulse is input while DCRT is ON.
Signal to switch to pushing operation. When TL is ON, it becomes pushing
operation.
Valid condition of parallel I/O (ON: Only ON is recognized, OFF: Only OFF is recognized,
ON/OFF: Recognized regardless of ON or OFF)
Conditions SETON
SVRE
BUSY
Returning to
CLR
RESET
Signal
output
output
output
home position
input
input
Pulse signal
ON/OFF
ON
ON/OFF Other than during operation
OFF
ON/OFF
(PP, NP)
SETUP
ON/OFF
ON
ON/OFF Other than during operation
ON/OFF
OFF
TL
ON/OFF
ON
ON/OFF Other than during operation
ON/OFF
ON/OFF
- 26 -
-Output sideTerminal
number
12
Function
Description
TLOUT
Turns ON during pushing operation.
However, the TLOUT output is turned OFF in the following condition.
1. Alarm generated
2. Return to origin instruction
3. Servo is OFF (SVRE output is OFF)
13
WAREA
When the actuator is within the output range between "W-AREA1 and
W-AREA2" of basic parameter, this terminal will be turned ON.
14
BUSY
This terminal is ON during positioning and the actuator operation.
15
SETON
When the actuator position information is established after returning to home
position, this terminal is turned ON.
However, the SETON output is turned OFF in the following condition.
1. Alarm generated
2. Return to origin instruction from pushing operation (TLOUT output is ON)
(After the return to origin is completed, the SETON output is turned ON
again).
3. Servo is OFF (SVRE output is OFF)
4 .CLR input is ON
5. When test operation by controller setting software/teaching box is finished
16
INP
Because of actuator action, if INP signal is ON, the actuator condition can
vary.
1.Return to origin
The output signal INP turns ON when the actuator operation stops(BUSY
output is OFF) and the position is within the range of the origin position
±basic parameter “initial positioning range”.
2.During positioning operation
If pulse signal is not input for 10ms or longer, INP signal is ON when the
difference becomes smaller than the step data "positioning width".
3. During pushing operation
Turns on when the pushing force exceeds the value set in the step data No.0.
Caution
If "positioning width" of the step data is too large during slow movement of
the actuator, INP signal may be ON even if the positioning of the actuator
is not completed.
17
SVRE
When the servo motor is ON, SVRE is ON. When the servo motor is OFF,
SVRE is OFF.
18
*ESTOP
ESTOP is ON during normal operation.
During activation of Teaching Box stop switch or by the stop command, this
terminal is OFF.
19
*ALARM
When there are no alarms, this terminal is ON.
When there are alarms, this is OFF.
20
AREA
When the actuator is within the output range between Area1 and Area2 in the
step data No.0, this terminal will be turned ON.
The change of output signal under the condition of the driver.
Output
Status
Servo OFF status at stop after power supply
Servo ON status at stop after power supply
During returning to origin
The actuator is at the origin. On completion of [SETUP]
During movement by positioning after returning to home position.
Stopping for pushing after returning to origin. (Holding)
Stopped due to no detection of work-load during pushing operation
after returning to origin.
Positioning after returning to home position is completed (within
positioning range).
Servo is OFF after returning to home position.
Stopped due to EMG signal after returning to home position.
BUSY
OFF
OFF
ON
OFF
ON
OFF
INP
OFF
ON
OFF
ON(*1)
OFF
ON
SVRE
OFF
ON
ON
ON
ON
ON
Lock
Lock
How to release
How to release
How to release
How to release
How to release
SETON
OFF
OFF
OFF
ON
ON
ON
OFF
OFF
ON
How to release
ON
OFF
ON
ON
How to release
ON
OFF
OFF
OFF
OFF
OFF
OFF
Lock
Lock
OFF
OFF
*1: The output turns on when the actuator is within the range defined in the basic parameter setup.
- 27 -
6.4 Parallel I/O connector wiring (Example)
When you connect a PLC, etc. to the CN5 parallel I/O connector, please use the I/O cable.
Wiring depends on the driver parallel input/output (NPN, PNP) and input pulse mode.
Pulse input circuit
*NPN type
COM+
1
COM-
2
NP+
3
NP-
4
PP+
5
PP-
6
SETUP
7
RESET
8
SVON
9
Equivalent to line driver DS26C31T
Pulse
Input
Circuit
TL
11
TLOUT
12
Load
WAREA
13
Load
BUSY
14
Load
SETON
15
Load
INP
16
Load
SVRE
17
Load
*ESTOP
18
Load
*ALARM
19
Load
AREA
20
Load
4
PP+
5
PP-
6
Pulse
Pulse
Differential input of 2 pulse mode
NP+
3
NP-
4
PP+
5
PP-
6
Direction
Pulse
Differential input of 1 pulse mode
NP+
3
NP-
4
PP+
5
PP-
6
R
Power supply for pulse
signal
24VDC or 5VDC
Pulse
R
Pulse
Open collector input for 2 pulse
R: Current limit resistor
5VDC+/-5%
NP-
Equivalent to line driver DS26C31T
10
24VDC +/- 10%
3
24 VDC
CLR
Power supply voltage
for pulse signal
NP+
Current limit resistor
R type
3.3kΩ+/-5%
(0.5W or more)
NP+
3
NP-
4
PP+
5
PP-
6
R
Power supply for pulse
signal
24VDC or 5VDC
Direction
R
Pulse
390Ω+/-5%
Open collector input for 1 pulse mode
(0.1W or more)
Caution
1. For open collector input, connect a current limiting resistor.
Refer to “(3) Pulse signal input circuit (page 25)”.
2. The current limit resistance should be prepared by a customer.
3. TL and TLOUT are available for driver's which version is V1.60 or more.
Do not use these terminals, if the driver version is earlier than V1.60.
- 28 -
Pulse input circuit
*PNP type
Equivalent to line driver DS26C31T
COM+
1
COM-
2
NP+
3
NP-
4
PP+
5
PP-
6
SETUP
7
RESET
8
SVON
9
Pulse
Input
Circuit
NP+
3
NP-
4
PP+
5
PP-
6
Pulse
Pulse
Differential input of 2 pulse mode
24 VDC
Equivalent to line driver DC26C31T
NP+
3
NP-
4
PP+
5
PP-
6
Direction
Pulse
CLR
10
TL*
11
TLOUT*
12
Load
WAREA
13
Load
BUSY
14
Load
SETON
15
Load
NP+
3
INP
16
Load
NP-
4
SVRE
17
Load
PP+
5
*ESTOP
18
Load
PP-
6
*ALARM
19
Load
AREA
20
Load
Differential input of 1 pulse mode
24VDC +/- 10%
5VDC+/-5%
Pulse
R
Pulse
Open collector input for 2 pulse
R: Current limit resistor
Power supply voltage
for pulse signal
R
Power supply for pulse
signal
24VDC or 5VDC
Current limit resistor
R type
NP+
3
NP-
4
PP+
5
PP-
6
R
Power supply for pulse
signal
24VDC or 5VDC
Direction
R
Pulse
3.3kΩ+/-5%
Open collector input for 1 pulse mode
(0.5W or more)
390Ω+/-5%
(0.1W or more)
Caution
1. For open collector input, connect current limit resistor.
Refer to “(3) Pulse signal input circuit (page 25)”.
2. The current limit resistance should be prepared by a customer.
3. TL and TLOUT are available for driver's which version is V1.60 or more.
Do not use these terminals, if the driver version is earlier than V1.60.
- 29 -
7. Setting Data Entry
For the controller setting software and the teaching box, there are two available modes (the Easy mode
and the Normal mode).
You can select the appropriate one depending on the operation.
*Easy mode
Step data can be set easily by the controller setting software or the teaching box.
* The combination of settings you need to setup will change depending on the type of actuators
(combination of data can be selected.)
* Normal mode
In Normal mode, you can make a further detailed setup (conditions for actuator and
driver, etc.) than the Easy mode.
You can change three kinds of setting data, “Step data,” “Basic parameter” and “Return
to origin parameter” in this mode.
7.1 Step data
Step data means the data which is not determined by pulse signal input such as positioning width.
Speed, position, acceleration and deceleration are determined by the pulse signal input. Step data will
become effective as soon as it is recorded into the driver.
Each data is set by step data No.0. Pushing force(*1), Trigger LV(*1), Pushing speed(*1), Mvoving
force, Area 1, Area 2 and, In position can be set. Do not change the set value of other items.
(Example) Step data on the PC (controller setting software) screen [Normal mode]
Speed
Position
Accel
Decel
PushingF
TriggerLV
PushingSp
Moving F
Area1
Area2
In pos
mm/s
mm
mm/s2
mm/s2
%
%
mm/s
%
mm
mm
mm
0
Fixed
value
Fixed
value
Fixed
value
Fixed
value
Fixed
value
60
50
30
100
18.00
22.50
0.5
1
-
-
-
-
-
-
-
-
-
-
-
-
:
:
:
:
:
:
:
:
:
:
:
:
:
63
-
-
-
-
-
-
-
-
-
-
-
-
No.
Move
*1: Available only for driver's version V1.60 or more. Do not change the default value of these
parameters, if the driver version is less than V1.60. Refer to “Appendix 1. Default setting value
per actuator (page 74)”.
- 30 -
Details of step data
Refer to “Appendix 1. Default setting value per actuator (page 74)”
Setting name
No.
Range
0 to 63
3 options
Move mode
(Blank, Absolute,
Relative)
1 to “Max speed”
Speed
of the basic
parameter
“Stroke (-)” to
Position
“Stroke (+)” of the
basic parameter
1 to “Max
Accelerate
ACC/DEC” of the
basic parameter
1 to “Max
Decelerate
ACC/DEC” of the
basic parameter
Push force
Not used in this product.
(Select Absolute or Relative. An alarm will be generated if this is blank.)
Not used in this product.
* It should not be changed.
Not used in this product.
* It should not be changed.
Not used in this product.
* It should not be changed.
Not used in this product.
* It should not be changed.
The maximum force for the pushing operation.
the basic
* Please refer to the actuator manual for the appropriate range of the speed.
parameter
* When pushing force=0, “abnormal operating data” alarm (1-048) will occur.
the basic
parameter”
Push speed
Only step No.0 is used.
1 to “Max force” of
1 to “Max force” of
Trigger LV
Description
*1
A condition where INP output signal during pushing operation is on. When the
actuator generates a force over this value during pushing operation, INP will
be turned ON. * Please refer to the actuator manual for the appropriate range
of the speed.
The pushing speed for the pushing operation.
* Please refer to the actuator manual for the appropriate range of the speed.
The setting to define the maximum torque during the positioning operation.
Move force
(Unit: %)
*1
Enter a value within the range appropriate for the actuator. * Please refer to
the actuator manual for the appropriate range of the speed.
Area1
Area2
“Stroke(-)”to
The setting to define the conditions where the AREA output will be turned ON
“Stroke (+)” of the
(Unit: mm). If the current position is within the range between the Area1 and
basic parameter
Area2, the AREA output will be turned ON.
“Stroke(-)”to
* If Area1 >Area2, the alarm “Step Data ALM1” will be activated.
“Stroke (+)” of the
(However, no alarm is generated if “Area1”= “Area2”= 0, the AREA output
basic parameter
will be turned OFF)
This is the setting to define the conditions where the INP will be turned ON.
In position
*1
INP output is ON when the deviation to the pulse signal from PLC is within the
positioning range while pulse signal is not input.
* If the set value is too small, INP signal is ON during operation.
*1: The range varies depending on the actuator. Please refer to the manual of the actuator for more
details.
- 31 -
7.2 Basic parameter
The “Basic parameter” is the data to define the operating conditions of the driver, conditions of the
actuator, etc.
Details of basic parameter
Activation: “XX” = Become effective just after recorded into the driver
“X” = Become effective after restarting the driver
“-“ = The parameter cannot be changed (fixed value)
Refer to “Appendix 1. Default setting value per actuator (page 74)”
Parameter name
Range
Description
Identification number (axis) parameters of serial communications are
Activation
Controller ID
1 to 32
IO pattern
Fixed value
ACC/DEC pattern
Fixed value
S-motion rate
Fixed value
Stroke (+)
*1
This defines the positive (+) side limit of the position. (Unit: mm)
XX
Stroke (-)
*1
This defines the negative (-) side limit of the position. (Unit: mm)
XX
Max speed
*1
Max ACC/DEC
*1
Def In position
*1
set.
Value is fixed for this product.
* It should not be changed.
Value is fixed for this product.
* It should not be changed.
Value is fixed for this product.
* It should not be changed.
This defines the maximum limit of the speed (Unit: mm/s).
* It should not be changed.
This defines the maximum limit of the ACC/DEC (Unit: mm/s2).
* It should not be changed.
This defines the range to activate the INP output when the actuator
is within it after the return to origin operation. (Unit: mm)
X
-
-
-
-
-
XX
*1: The range varies depending on the actuator. Please refer to the manual of the actuator for more
details.
- 32 -
This defines the position of the actuator after the return to origin
operation. (Unit: mm)
* The ORIG offset is 0 (mm).
M
ORIG offset
*1
Actuator
Between the left examples, the
The position recognized by the driver
after the return to the origin operation
(0mm).
actuator positions are not
* The ORIG offset is 100 (mm).
changed after the return to
origin operation.
M
different but the reference point
that the driver recognizes will be
XX
Actuator
The position is identified by the driver after the
return to the origin operation (100mm).
Caution
If the value for the “ORIG offset” is changed, the “Stroke (+)”
and “Stroke (-)” of the basic parameter should be checked.
Max force
*1
The maximum force for the pushing operation.
XX
Sets the range in which parameter and step data can be changed.
Para protect
1 to 2
1.Basic parameter + Step data (Basic parameter + Return to origin
parameter + Step data)
XX
2.Basic parameter(Basic parameter + Return to origin parameter)
This defines the status of the Enable switch of the teaching box.
Enable SW
1 to 2
1． Enable
XX
2． Disable
Unit name
Fixed value
Indication of actuator type compatible to the driver.
* It should not be changed.
-
“Stroke(-)”to
W-AREA1
W-AREA2
“Stroke (+)” of
The setting to define the conditions where the WAREA output will be
the basic
turned ON (Unit: mm).
parameter
If the current position is within the range between the W-AREA1 and
“Stroke(-)”to
W-AREA2, the WAREA output will be turned ON.
“Stroke (+)” of
the basic
XX
* If W-AREA1 >W-AREA2, the alarm “Parameter ALM” will be
activated.(However,no alarm is generated if “W-AREA1”=
XX
W-“AREA2”= 0, the WAREA output will be turned OFF)
parameter
Value is fixed for this product. (For initial values, refer to "Basis
Link Offset
Fixed value
Parameter" of the operation manual of each actuator.)
-
* It should not be changed.
Sensor type
Fixed value
Value is fixed for this product. (Default: 1)
* it should not be changed.
-
*1: The range varies depending on the actuator. Please refer to the manual of the actuator for more
details.
- 33 -
Input mode of pulse signal is set. (Default: 0)
Parameter
Value
Pulse
Input Signal
Method
PP
0
Normal(CW)
L
H
L
H
L
H
PP
H
H
H
L
L
L
1 pulse
mode
NP
L
H
PP
L
H
2 pulse
mode
NP
Option set1
L
1 pulse
mode
NP
4
H
Count with L
2 pulse
mode
PP
H
L
NP
3
L
2 pulse
mode
PP
2
Count with H
H
NP
1
Reversed(CCW)
L
H
L
0 to 7
PP
5
6
H
2 pulse
mode
NP
H
L
PP
L
H
H
H
1 pulse
mode
NP
PP
7
X
L
L
H
L
H
L
1 pulse
mode
NP
H
L
* "H”, "L" in the table above indicate ON/OFF of the photo coupler as below.
"H: Input photo coupler OFF"
"L: Input photo coupler ON"
* If set more than "8", the set value is recognized as 0.
- 34 -
Define the ratio of electronic gear of pulse signal input.
* Undefined parameter 11: "Electronic gear (numerator)"(Default: 1)
* Undefined parameter 12: "Electronic gear (denominator)"(Default: 1)
Undefined
No.11
This product controls LE series motor (800 pulse per rotation).
1 to 4096
Please refer to the actuator manual for the appropriate range of the movement
X
due to the rotation of the motor.
<Example>
(1) "Electronic gear (numerator): 1",
"Electronic gear (denominator): 1"
→ Motor makes one turn when 800 pulses are input.
(2) "Electronic gear (numerator): 2",
"Electronic gear (denominator): 2"
→ Motor makes one turn when 1600 pulses are input.
(3) "Electronic gear (numerator): 2",
Undefined
No.12
"Electronic gear (denominator): 1"
1 to 4096
→ Motor makes one turn when 400 pulses are input.
* "Electronic gear (numerator): 1", "Electronic gear (denominator): 1" is
recommended. If other values are selected, the vibration or noise of the
actuator can result.
* If set “0”, the set value is recognized as “1”.
* If set more than “4097”, the set value is recognized as “4096”.
- 35 -
X
7.3 Return to origin parameter
The “Return to origin parameter” is the setting data for the return to origin operation.
Details of Return to origin parameter
Activation: “XX” = Become effective just after recorded into the driver,
“X” = Become effective after restarting the driver,
“-“ = The parameter cannot be changed (fixed value).
Refer to “Appendix 1. Default setting value per actuator (page 74)”
Name
Range
Description
Activation
Sets the direction of return to origin operation.
ORIG direction
1 to 2
1. CW
X
2. CCW
The setting for the return to origin operation
ORIG mode
1 to 2
1. pushing origin operation [Stop]
XX
2. limit switch origin [Sensor]
ORIG limit
ORIG time
*1
Fixed
value
A pushing force level at which to set the origin.
This is the fixed value for this driver. * It should not be changed.
XX
-
ORIG speed
*1
The allowable speed to move to origin.
XX
ORIG ACC/DEC
*1
The acceleration and deceleration during find origin.
XX
Creep speed
Fixed
value
This is the fixed value for this driver. * It should not be changed.
-
The setting for ORIG sensor
ORIG sensor
0 to 2
0. The origin sensor is not effective. [Disable]
1. The origin sensor is N.O type. [N.O].
XX
2. The origin sensor is N.C type. [N.C.]
ORIG SW DIR
Undefined No.21
Fixed
Value is fixed for this product.
value
* It should not be changed.
Fixed
Value is fixed for this product.
value
* It should not be changed.
-
-
*1: The range varies depending on the actuator. Please refer to the manual of the actuator for more
details.
- 36 -
8. Operations explanation
8.1 Return to origin
After entering the setting data, it is necessary to perform a return to origin operation before starting the
positioning or pushing operation. (To ensure the position of origin)
 Return to origin operation
The actuator moves in the return to origin direction (* this direction is dependent on the actuator) from
the initial position at the moment of power-on: See (1) in the diagram below.
When the actuator reaches the end of travel limit it pauses for a short time. The driver recognizes the
position as the end of travel limit of the actuator.
Then, the actuator moves at a low speed in the
direction opposite to the return to origin direction: See (2) in the diagram below.
Return to origin signal Move in the return to origin direction
movement Move in the opposite direction Origin position
Stop the
(Example) Return to origin operation
Load
Basic parameter
“Def in position”
Actuator
Motor
M
(2)
Origin position
Actuator end
(1)
Initial position
Caution
This direction is dependent on the actuator.
8.2 Positioning operation
Positioning according to the input pulse signal.
* Positioning operation
(Example)
Actuator
Load
Moves with speed,
acceleration or
deceleration
according to the
pulse signal.
* Positioning operation
[Speed/Position] (Example)
Speed
M
Motor
Position
Origin position
Target position
Target position
Caution
The travel distance from the positioning unit, the speed and the command of acceleration/
deceleration shall not exceed the specifications of the actuator. Operation exceeding the specification
leads to the generation of the alarm and malfunction.
- 37 -
8.3 Pushing operation
1. During operation at "Pushing speed" of Step Data No.0 or less, or the actuator is stopping.
2. TL input turns on
When above two conditions are satisfied, operation is switched to pushing operation (pushing force).
The actuator pushes the load with the force no more than the maximum pushing force set in the
“Pushing force” of the step data No.0. TLOUT is turned ON during pushing operation.
* After switching to the pushing operation (TLOUT output is ON), the actuator operates at "Pushing
speed" set in Step Data No.1 even if the pulse signals more than "Pushing speed" of Step Data No.0 is
input.
(1) Successful pushing operation
During the pushing operation, if the pushing force is kept higher than the value specified by “Trigger
LV” of the step data No.0 for a certain time, the INP output will be turned ON. Set thrust continues to be
generated even after the pushing is completed.
●Pushing operation (e.x.)
Actuator
Load
●Pushing operation (E.X.)【Speed/Position】（e.x.）
Movement
by step data
No.0
"Pushing
Movement
speed" or
by positioning less
operation
Speed
Origin
position
Deviation
Pushing
force
TL is turned ON
Pushing speed
regular value
Ｍ
Motor
Positioning
operation
Pushing
operation
Positioｎ
Positioning
operation
Pushing
operation
Pushing
force
Pushing
start position
Deviation
Area of movement instruction from the
positioning unit
Area of movement instruction from the
positioning unit
(2) Unsuccessful pushing operation (Pushing the air)
When the actuator does not complete the pushing even when it moves from the start position of the
pushing to the operation range commanded by the pulse signals coming from the positioning unit, the
operation is stopped. In such case, the INP output and BUSY output will be turned OFF.
Pushing
operation
Speed
Pushing start
position
Position
Area of movement instruction
from the positioning unit
- 38 -
(3) Workpiece moves when pushing operation is completed
(i) The workpiece moves in the pushing direction.
After completion of the pushing operation, if the reaction force from the workpiece becomes smaller,
the actuator may move with a force smaller than that specified in the “Trigger LV” of the step data. In
such case, the BUSY output will be turned ON and the INP output will be turned OFF and the actuator
moves within the positioning range according to the balance of the force.
During the pushing operation, if the pushing force is kept higher than the value specified by “Trigger
LV” of the step data No.0 for a certain time again, the INP output will be turned ON and BUSY output
will be turned OFF.
Pushing
operation
Speed
Pushing start
position
Position
Area of movement instruction
from the positioning unit
(ii)When the actuator moves in the opposite direction of pushing direction
When the actuator is pushed back after the pushing move is completed, the actuator is pushed until
the reaction force and pushing force are balanced, the BUSY output stays ON and INP output stays
ON.
Reactive force
Speed
Pushing start
position
Position
Area of movement instruction
from the positioning unit
8.4 Response time for the driver input signal
Response delay due to the input signal other than pulse signal contains the following factors.
(1) Driver input signal scan delay
(2) Delay due to input signal analysis
(3) Delay of command analysis
Leave an interval of 15 ms (30 ms if possible) or more between input signals and maintain the state of
the signal for 30ms or more, as PLC processing delays and driver scaning delays can occur.
8.5 Methods of interrupting operation
It is possible to stop the actuator by interrupting the movement of a positioning operation or pushing
operation.
[Stopping by EMG signal]
If the EMG signal is turned OFF during operation, after the actuator decelerates and stops, the servo will
turn OFF so the stopped position is not held. (For an actuator with lock, it is held by the lock function.)
Pulse signal input is ignored while EMG signal is OFF because the servo is OFF.
- 39 -
9. Operation (example)
9.1 Positioning operation
Calculation example of the travel amount (pulse) and travel speed (pulse frequency) when the electronic
gear ratio is 1/1 (Recommended value) which are set with basic parameter "Undefined No. 11"
"Undefined No.12".
 Setting example of pulse signal
Actuator lead: 10[mm/rotation], electronic gear (denominator): 1, electronic gear (numerator): 1
2 pulse mode (Pulse input for each direction)
Target position1: Travel amount 100mm Travel speed 30mm/s
Acceleration 3000mm/s2 Deceleration 3000mm/s2
Target position2: Travel amount 60mm Travel speed 100mm/s
Acceleration 2000mm/s2 Deceleration 2000mm/s2
 Calculation example
Travel amount (Pulse amount[Pulse])
= Encoder resolution [Pulse/ rotation] x electronic gear [1/1] / Actuator lead[mm/ rotation] x travel
amount [mm]
Travel speed (pulse frequency [pulse/sec])
= (Encoder resolution [Pulse/ rotation] x electronic gear [1/1] / Actuator lead[mm/ rotation]) x travel
speed [mm/s]
Acceleration / deceleration time [s]
= Travel speed[mm/s] / Deceleration or acceleration speed [mm/s 2]
<Calculation example of target position 1>
Travel amount: 800 x 1 / 10 x 100 = 8000[pulse]
I believe this should = 3200 [pulses]
Travel speed: 800 x 1 / 10) x 30 = 2400 [pulse/sec])
Acceleration / deceleration time: 30 / 3000 = 0.01 [s]
PLC
<Calculation example of target position 2>
Travel amount: 800 x 1 / 10 x 60 = 4800[pulse]
Travel speed: 800 x 1 / 10 x 100 = 8000 [pulse/sec])
Acceleration / deceleration time: 100 / 2000 = 0.05 [s]
Driver
Parallel input / output signal
Signal
Class
name
(1)
PPInput
(4)
NP(2)(5)
INP
Output
(3)(6)
BUSY
Operation(Example)
Load
Motor
Actuator
・
・
M
60mm
0mm
Origin position
Target
position 2
100mm
Target
position 1
(1)Target position 1 is commanded.
Pulse; 8000, Pulse frequency: 2400 [pulse/sec])
Acceleration time 0.01[s], deceleration time 0.01[s]
This pulse is input to “PP-”
↓
Travels to target position 1
↓
(2) When the travel is completed, "INP" output is ON.
↓
(3) BUSY output is OFF
↓
Travel to target position 1 is completed
↓
(4) Target position 2 is commanded.
Pulse; 4800, Pulse frequency: 8000 [pulse/sec])
Acceleration time 0.05[s], deceleration time 0.05[s]
This pulse is input to “NP-”
↓
Travels to target position 2
↓
(5) When the travel is completed, "INP" output is ON.
↓
(6) "BUSY" output is OFF
Travel to target position 2 is completed.
- 40 -
9.2 Pushing operation
Calculation example of the travel amount (pulse) and travel speed (pulse frequency) when the
electronic gear ratio is 1/1 (Recommended value) which are set with basic parameter "Undefined No.
11" "Undefined No.12".
Ex) Perform pushing from the home position to the start position for pushing 100mm away at
100mm/sec.
From the point of 100mm, pushing starts at 30mm/s for 30mm with 50% of pushing force.
 Setting example of pulse signal
Actuator lead: 10[mm/rotation], electronic gear (denominator): 1, electronic gear (numerator): 1
2 pulse mode (Pulse input for each direction)
Positioning operation: Travel amount 100mm Travel speed 100mm/s
Acceleration 3000mm/s2 Deceleration 3000mm/s2
Pushing operation: Travel amount 30mm Travel speed 30mm/s
Acceleration 3000mm/s2 Deceleration 3000mm/s2
 Calculation example
Travel amount (Pulse amount [Pulse]) = Encoder resolution [Pulse/Rotation] x Electronic gear[1/1] /
Actuator lead [mm/rotation] x Travel distance [mm]
Travel amount (Pulse frequency [Pulse/sec]) = Encoder resolution [Pulse/Rotation] x Electronic
gear[1/1] / Actuator lead [mm/rotation] x Travel distance [mm/s]
Acceleration / deceleration time [s] =Travel speed[mm/s] / Deceleration or acceleration speed [mm/s 2]
<Calculation example of positioning operation>
Travel amount: 800 x 1 / 10 x 100 = 8000[pulse]
Travel speed: 800 x 1 / 10 x 100 = 8000 [pulse/sec])
Acceleration / deceleration time: 100 / 3000 = 0.1 [s]
<Calculation example of pushing operation>
Travel amount: 800 x 1 / 10 x 30 = 2400[pulse]
Travel speed: 800 x 1 / 10 x 30 = 2400 [pulse/sec])
Acceleration / deceleration time: 30 / 3000 = 0.01 [s]
Driver
(1)Positioning operation starts until the start position for the
Parallel input /output signal
Signal name
(1)(5)
PPInput
PLC
NP(4)
TL
(6)
TLOUT
(2)(7)
BUSY
Operation
（Example）
Actuator
Position of
Motor
Output
INP
(3)(8)
Load
Class
pushing
start
・・・・・・・・・
TL input
turns on
Pushing
force
・・・
Ｍ
Deviation
0mm
Home position
Workpiece
100mm Pushing 130mm
range
pushing operation.Input pulse amount 8000[pulse], pulse
frequency
8000[pulse/sec],
acceleration
0.1[s],
deceleration 0.1[s] to "PP-"
↓
Travels to the start position of pushing.
↓
(2) When the travel is completed, "INP" output is ON.
↓
(3) BUSY output is OFF
↓
Complete the movement to the start position of pushing.
↓
(4) TL input is turned ON.
↓
(5) Starts pushing
Input pulse amount 2400[pulse], pulse frequency
2400[pulse/sec], acceleration 0.01[s], deceleration 0.01[s]
to "PP-"
↓
Starts pushing
↓
(6) TLOUT is turned ON when pushing starts
↓
Push the workpiece with the specified pushing force.
↓
(7) INP turns ON when pushing force stays larger than
Trigger LV for specific period of time or longer.
↓
(8) “BUSY” output turns off
↓
Pushing completes
- 41 -
9.3 Pushing operation
(Ex.1) Clear the deviation. Return to origin from the finish position of pushing.
1. After pushing finishes, CLR turns on and the deviation is cleared.
2. TL input turns OFF.
3. Perform returning to origin by turning ON the SETUP input to establish the home position.
2. TL input turns on
Position of
Load
Pushing
finished
pushing start
Motor
Actuator
・・・・・・・・・ ・・・
Ｍ
Deviation
Positioning
0mm operation
100mm Pushing 130mm
Home
range
range
position
1.Clear the deviation by
turning on CLR input
3. Turning ON the SETUP input for
Positioning
operation
returning to origin.
Establish the home position.
24V
0V
ON
OFF
･
･
Power
SVON
Deviation
PPNPInput
TL
2.TL is turned OFF
Pushing operation start
1.CLR is turned ON
The deviation is cleared.
CLR
3.SETUP is turned ON
SETUP
Output
･
･
･
･
ON
OFF
・
・
BUSY
INP
･
･
･
･
Pushing completion
・
・
SVRE
・
・
・
・
OFF
ON
TLOUT
SETON
External lock
Step data No.0"Pushing speed"
Speed
Positioning
operation
Pushing
operation
- 42 -
Return to
origin
0mm/s
(Ex.2) Not clear the deviation. Input the pulse for the distance of pushed actuator but in the opposite
direction with TL input ON.
1. After finishing the pushing, input the pulse for the distance of the pushed actuator in the opposite
direction of the pushing. With pushing speed as operating speed.
2. After the operation, TL input turns OFF.
Load
Position of
pushing start
Pushing
finished
Actuator
Motor
・・
Ｍ
Deviation
0mm
Home
position
Positioning
operation
100mm Pushing
range
range
130mm
1. Input the pulse for the distance of the pushed
2. After the operation,
TL input turns OFF.
actuator in the opposite direction of the pushing
with TL input stays ON.
With pushing speed as operating speed.
Positioning
24V
0V
ON
OFF
Power
SVON
Deviation
･
･
PP-
Input
①Pulse input of
amount of pushing
NPTL
･
･
Pushing operation start
②After completion of operation,
TL is turned OFF.
･
･
CLR
･
･
SETUP
･
･
State of pushing miss
BUSY
INP
Output
Deviation digestion
ON
OFF
・
・
Pushing completion
・
・
SVRE
・
・
・
・
OFF
ON
TLOUT
SETON
External lock
Step data No.0"Pushing speed"
Speed
Positioning
operation
Pushing
operation
- 43 -
Deviation digestion
operation
0mm/s
10. Operation instruction
10.1 Outline of the operation instruction
The operation of the driver can be achieved by input / output signals and pulse signals.
10.2 Procedures with the Parallel I/O
Please refer to the following “Procedures” and “Timing chart” for each operation.
[1] Power on → Return to origin
- Procedures(1) Apply the power.
- Timing chart-
↓
(2) ALARM is turned ON.
↓
(3) SVON is turned ON.
(4) SVRE is turned ON.
(lock release)
* The time [SVRE] output turns ON is
dependant on the type of actuator
and the customer usage.
* The actuator with lock is unlocked.
↓
(5) SETUP is turned ON.
↓
(6) BUSY is turned ON.
BUSY
ON
OFF
SVRE
･
･
･
･
･
･
・
・
・
・
・
SVON
Input
ESTOP is turned ON.
↓
SETUP
24 V
0V
ON
OFF
･
･
Power
SETON
Output
INP
*ALARM
*ESTOP
OFF
ON
External Lock
0mm/s
Speed
Return to origin
After the reset, the driver will
be turned ON.
If the actuator is within the “In
position” range, INP will be turned
ON but if not, it will remain OFF.
(The actuator moves.)
↓
* The “ALARM” and “ESTOP” are expressed as negative-logic circuit.
(7) SETON and INP are turned ON.
When the BUSY output is turned
OFF, the return to origin operation
has been completed.
- 44 -
[2] Positioning operation
-Timing chart-
- Procedures(1) Input pulse signal
↓
(2) BUSY output turns ON
INP output is OFF
(Positioning starts)
↓
(3) If pulse signal is not input for
10ms or longer, INP signal is
ON when the difference
becomes
smaller
than
"positioning width" BUSY
signal is OFF when the
actuator
completes
its
operation.
Start of pulse input
24V
0V
Power
NP-
ON
OFF
･
･
・
・
SETON
ON
OFF
SVON
Input
PP-
・
・
BUSY
Output
・
・
・
・
INP
SVRE
ON
Extermal Lock
OFF
Speed
Positionig
operation
Caution
1. Do not input normal (CW) and reversed (CCW) pulse signal simultaneously.
2. Keep 10ms or more interval to input reversed pulse signal when changing the actuator direction
(motor direction). Minimum interval depends on the operating speed and load.
* It should not be shortened more than necessary.
- 45 -
0mm/s
[3] Pushing operation
-Timing chart- Procedure (1) Input pulse signal
Start of pulse input
↓
(2) TL input is turned ON.
Power
↓
SVON
(3) BUSY output turns ON
INP output is OFF
PPTLOUT output is turned on.
Inp ut
(Starts pushing)
NP↓
(4) Pushing is completed when INP
TL
output is ON and BUSY output is
OFF.
SETON
(Thrust more than step data
No.0 "Trigger LV" is generated)
BUSY
Output
Deviation
24V
0V
ON
OFF
･
･
・
・
ON
OFF
・
・
・
・
・
・
・
・
INP
SVRE
TLOUT
OFF
ON
External lock
S tep data No.0
"Pushing speed"
Speed
- 46 -
Pushing
operation
0mm/s
-Timing chart- Alarm reset
[4] Alarm reset
Input
-Procedures(1) Alarm generated
(SETON output and SVRE output are
OFF when alarm is generated)
RESET
*ALARM
Output SETON
↓
(3) ALARM is turned ON and the output SVRE
turned ON (the alarm is deactivated).
ON
OFF
･
･
･
･
* The “ALARM” is expressed as negative-logic circuit.
*It is necessary to reenter the controlled source for reset of
the alarm when alarm group E is generated.
-Timing chart- Deviation reset
CLR
Input
[5] Deviation reset
-Procedures-
Alarm out
SVRE
(2) RESET is turned ON.
↓
ON
OFF
・
・
SVON
BUSY
The CLR signal is turned
ON during stop.
Output
(1) The CLR input is turned ON during
SETON
ON
OFF
ON
OFF
・
・
the stop (when BUSY is OFF).
↓
Speed
0mm/s
(2) The deviation is cleared.
SETON is turned OFF.
-Timing chart- Alarm reset
24V
0V
Power
[6] Stop (EMG)
-Procedures-
Stop[EMG]
(1) The stop [EMG] input is turned OFF
SVON
during the operation (when BUSY is ON).
[stop command]
Input
Turn off the pulse signal input at the
PPNP-
same time.
↓
BUSY
(2) ESTOP is turned OFF.
SETON is turned ON.
SVRE
↓
(3) BUSY is turned OFF
This pulse signal is ignored by
SVRE signal OFF.
Output
(the actuator stops).
SVRE is turned OFF
(if the actuator has a lock).
OFF
･
･
･
･
ON
O FF
･
･
SETON
･
･
*ALARM
･
･
*ESTOP
･
･
↓
(4) The stop [EMG] input is turned ON.
ON
OFF
ON
ON
External Lock
OFF
[The stop release command]
↓
Speed
(5) STOP is turned ON.
0mm/s
* SVRE is turned ON.
(*lock release)
* The “ALARM” and “ESTOP” are expressed as negative-logic circuit.
* When "Stop" is OFF, the stop is activated.
- 47 -
[7] Area output
-Procedures*Operation 1
(1) Input pulse signal
↓
(2) BUSY output turns ON
INP output is OFF
↓
(3) AREA output turns ON
(at 50mm)
↓
(4)AREA output is OFF.
(at 80mm)
↓
(5) BUSY output is turned OFF
INP output turns ON
↓
-Timing chartExample:
The initial position: 0mm
Operation 1: Position: 100mm, Area1 – Area2: 50-80mm
Operation 2: Position: 200mm, W-AREA1 – W-AREA2: 130-160mm
Input
ON
OFF
･
･
PPNP-
･
･
･
･
BUSY
Output
INP
AREA
･
･
･
･
WAREA
*Operation 2
(6) Input pulse signal
↓
(7) BUSY output turns ON
INP output is OFF
↓
(8) WAREA output turns ON
(at 130mm)
↓
(9) WAREA output is turned OFF
(at 160mm)
↓
(10) BUSY output is OFF
INP output turns ON
Speed
50mm - 80mm
0mm
AREA signal is ON when
current position is in step
data area1 or 2. If not , OFF.
- 48 -
100m
130mm - 160mm 0mm/s
200m
WAREA signal is ON when current
position is in basic parameter
W-area1 or 2. If not, OFF.
11. Option
11.1 Actuator cable (5m or less)
LE - CP - □ - □
Cable length (L)
1
1.5m
3
3m
5
5m
<1>
Signal
A
A
B
B
COM-A/COM
COM-B/ -
<2>
Tarminal no.
B-1
A-1
B-2
A-2
B-3
A-3
Shield
Vcc
GND
A
A
B
B
Actuator cable type
Nil
Robot cable
S
Standard cable
<3>
B-4
A-4
B-5
A-5
B-6
A-6
Cable color
Brown
Red
Orange
Yellow
Green
Blue
Tarminal no.
2
1
6
5
3
4
Cable color
Brown
Black
Red
Black
Orange
Black
-
Tarminal no.
12
13
7
6
9
8
3
Driver side
Actuator side
（14.2）
（17.7）
<1>B1
A1
（14）
(φ8)
<2>
2
6
5
1 <3> 2
（18）
A6
1
B6
Ｌ
（30.7）
15
（11）
16
11.2 Actuator cable (8-20m)
<1>
LE - CP - □
Cable length (L)
8
8m*
A
10m*
B
15m*
C
<2>
Signal
A
A
B
B
COM-A/COM
COM-B/ -
Tarminal no.
B-1
A-1
B-2
A-2
B-3
A-3
Shield
20m*
* Poduced upon receipt of order
* Only "Robotic type cable"
can be selected.
Vcc
GND
A
A
B
B
<3>
B-4
A-4
B-5
A-5
B-6
A-6
Actuator side
Cable color
Brown
Red
Orange
Yellow
Green
Blue
Tarminal no.
2
1
6
5
3
4
Cable color
Brown
Black
Red
Black
Orange
Black
-
Tarminal no.
12
13
7
6
9
8
3
Drivler side
（14.2）
<1>
B1
<2>
2
6
1 <3> 2
B6
（18）
A6
1
5
（17.7）
A1
（14）
(φ5.5)
(φ6.3)
（30.7）
Ｌ
- 49 -
（11）
15
16
11.3 Actuator cable for with lock (5m or less)
<1>
LE - CP - □ - B - □
Cable length (L)
1
1.5m
3
3m
5
5m
<2>
Signal
A
A
B
B
COM-A/COM
COM-B/ -
Tarminal no.
B-1
A-1
B-2
A-2
B-3
A-3
Shield
Vcc
GND
A
A
B
B
Actuator cable type
Nil
Robot cable
S
Standard cable
B-4
A-4
B-5
A-5
B-6
A-6
<4>
Signal
Lock（＋）
Lock（－）
Sensor（＋）
Sensor（－）
Tarminal no.
B-1
A-1
B-3
A-3
Actuator side
<1>
B1
B3
<4>
Tarminal no.
12
13
7
6
9
8
3
Red
Black
Brown
Blue
4
5
1
2
（14.2）
（18）
A3
Cable color
Brown
Black
Red
Black
Orange
Black
-
（14）
B6
B1
A6
A1
Tarminal no.
2
1
6
5
3
4
Driver side
(φ8)
（10.2） （17.7）
A1
<3>
Cable color
Brown
Red
Orange
Yellow
Green
Blue
(φ5.7)
Ｌ
（30.7）
1 <2> 2
6
2
5
1
15
16
<3>
（11）
11.4 Actuator cable for with lock (8-20m)
<1>
LE - CP - □ - B
Cable length (L)
8
8m*
A
10m*
B
15m*
C
20m*
* Produced upon receipt of order
* Only "Robotic type cable"
can be selected.
<4>
Signal
A
A
B
B
COM-A/COM
COM-B/ -
<2>
Tarminal no.
B-1
A-1
B-2
A-2
B-3
A-3
Vcc
GND
A
A
B
B
B-4
A-4
B-5
A-5
B-6
A-6
Signal
Lock（＋）
Lock（－）
Sensor（＋）
Sensor（－）
Tarminal no.
B-1
A-1
B-3
A-3
Shield
Actuator side
<4>
B3
Red
Black
Brown
Blue
4
5
1
2
(φ6.3)
（10.2） （17.7）
A3
Tarminal no.
12
13
7
6
9
8
3
（14.2）
2
1
5
<2>
<3>
6
1
2
15
16
（18）
B6
B1
A6
A1
Cable color
Brown
Black
Red
Black
Orange
Black
-
Driver side
(φ5.5)
B
Tarminal no.
2
1
6
5
3
4
（14）
A1
<1>
<3>
Cable color
Brown
Red
Orange
Yellow
Green
Blue
(φ5.7)
（30.7）
- 50 -
Ｌ
（11）
11.5 I/O Cable
LEC – CL5 – □
Pin No.
Cable length(L)
1
1.5m
* Available only when differential
3
3m*
pulse input. Only 1.5m cable is
5
5m*
available for open collector.
PLC side
Driver side
20
19
(11)
L
(22)
(φ9.3)
2
Core number
20
AWG size
AWG24
1
100±10
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Color of
Dot mark Dot color
insulation
Light brown
■
Black
Light brown
■
Red
Yellow
Black
■
Yellow
■
Red
Light green
Black
■
Light green
■
Red
Grey
Black
■
Grey
■
Red
White
Black
■
White
■
Red
Light brown
Black
■■
Light brown
Red
■■
Yellow
Black
■■
Yellow
Red
■■
Light green
Black
■■
Light green
Red
■■
Grey
Black
■■
Grey
Red
■■
White
Black
■■
White
Red
■■
11.6 Controller setting kit
LEC – W2
Controller setting kit
Contents
(1) Controller setting software (CD-ROM)
(2) Communication cable
(3) Conversion unit
(4) USB cable
Hardware requirements
PC/AT compatible machine installed with Windows XPⓇ and Windows 7Ⓡ and equipped
with USB1.1 or USB2.0 ports.
*WindowsⓇ and Windows XPⓇ, Windows 7Ⓡ are registered trade marks of Microsoft Conporation.
Caution
When the controller setting software/version is earlier than V1.2, please upgrade the controller setting
software. Upgrade software be able to download on SMC website.
http://www.smcworld.com/
- 51 -
11.7 Teaching box
LEC
– T1
–
3
E
G □
Enable switch
Nil
No enable switch
S
Equipped with enable
Stop switch
Teaching box
Cable length
3
3m
E
J
Dimensions
102
185
34.5
No
(1)
(2)
Name
LCD
Ring
(3)
Stop switch
(4)
Stop guard
Enable
switch
(Option)
G
Equipped with stop switch
Function
Liquid crystal display (with backlight)
The ring to hang the teaching box.
Pressing down to lock this, controlled stop will be
activated.Turn clockwise to release the lock.
Protector for the stop switch
(6)
Key switch
Switch to prevent unintentional operation of Jog test
function.
* Does not apply to other functions e.g. data change
Entry switches
(7)
(8)
Cable
Connector
3m length
The connector to be connected to the CN4 of the driver.
(5)
25 22.5
Initial language
English
Japanese
11.8 Noise filter set
LEC - NFA
( φ12.5)
Cable tie (3pcs.)
(33.5)
Noise filter (2pcs.)
Noise filter set
(140)
(28.8)
(42.2)
Assembly procedure:
Catch closed
1) Mount a noise filter around the single wires of the actuator cable close to the driver connectors.
Next, fasten a cable tie to the shrink sleeve as shown (refer to A1).
2) Mount a noise filter to the motor cable, and fasten with a cable tie at both ends.
CN2 and CN3 connectors
A1
Single wires
A1
Cable tie
Actuator cable
Actuator
Driver
Noise filter
Shrink sleeve
Motor cable
Caution
1) When mounting a noise filter on the actuator cable, fit all of the single wires into the noise filter.
(CN2 connector 6 wires and CN3 connector 7 wires [17 wires for the lock specification]).
Be careful not to crush the wires when mounting the noise filter.
3) Also, ensure that the shrink sleeve does not get inside the noise filter (refer to A1).
4) When unplugging the actuator cable connectors CN2 and CN3 from the driver, remove the cable tie
and move the noise filter towards the shrink sleeve. After re-mounting, return the noise filter to its
original position and re-fasten the cable tie.
- 52 -
12. Alarm Detection
The details of the alarm can be checked using a PC (the controller setting software) or the teaching
box.
* Please refer to the manuals of the controller setting software or the teaching box for how to check the
details of the alarms.
Please refer to section “12.2 Alarm details (page 54)” of this manual on how to, deactivate the alarm.
There are two types of alarms: the ones that can be deactivated by the RESET input via the parallel
communication and the other that can be deactivated by cycling the driver power supply (C24V).
12.1 Parallel output for the alarm group
After generation of the alarm, SVRE or SETON are output according to the contents of the alarm as
below.
Alarm group
Parallel output
SVRE
SETON
Procedure of restart
Alarm group A
RESET input
Alarm group B
RESET input
Alarm group C
OFF
OFF
RESET input
Alarm group D
RESET input
Alarm group E
Power off →Turn on the power again
- 53 -
12.2 Alarm details
Step data ALM1
(1-048)
Group
Alarm
(code)
B
How to
Alarm contents/Countermeasure
deactivate
RESET
SVON
input
<Contents>The step data is in-correct for the following
conditions:(Assignable value range)
(1) Area1 < Area2
(If both Area1 and Area2 is 0, the alarm will not be activated.)
(2) Trigger LV ≤ Pushing force
(3) Minimum speed of actuator ≤ Pushing speed ≤ Speed
(4) Pushing speed ≤ Maximum pushing speed of actuator
(5) Pushing force ≥ Minimum pushing force of actuator
(6) Basic parameters “Max force” ≥ Minimum pushing force of
actuator
(7) Basic parameters “Max force” ≥ Trigger LV
(8) Pushing force ≠ 0
<Countermeasure> Modify the step data and “basic
parameters” setting.
Caution
RESET
Parameter ALM
(1-049)
B
SVON
input
Please confirm this pushing force and minimum speeds of
Data maximum speed and 0 or more of the actuator with
the actuator manual or the catalog.
<Contents> The basic parameter is not correct for the following
condition:(Assignable value range)
(1) Stroke (-) < Stroke (+)
(2) W-Area 1 < W-Area2(If both W-Area1 and W-Area2 is 0, the
alarm will not be activated.)
(3) Maximum pushing force < Maximum pushing force of
actuator
<Countermeasure> Modify the basic parameter setting.
Caution
Please refer to the manual or the catalogue of the actuator
for the max/min pushing force/speed for the actuator.
<Contents> Generated when test operation is performed by
the teaching box or PC setting software.
RESET
Step data ALM2
(1-051)
B
SVON
input
<Countermeasure> (1) Check if "Operation" of the step data
is "Blank (Invalid data)".
(2)This product cannot perform test operation by the teaching
box or PC setting software.
Refer to “7.1 Step data (page 30)”
- 54 -
<Contents> The actuator goes out the stroke limit specified by
the basic parameters, “Stroke (+)” and “Stroke (-)” if it performs
the requested operation. (Including JOG operation after return
RESET
Stroke limit
(1-052)
B
SVON
input
to origin)
<Countermeasure> Make sure that the basic parameter,
“Stroke (+)” and “Stroke (-)” are consistent with the distance of
actuator movement specified in the step data.
* Generated only in case of SETON
Caution
If the “Movement MOD” of the step data is relative, pay
attention to the starting point and distance of the actuator
movement.
<Contents> 1.Return to origin is not completed within the set
time.
2. Return to origin parameter has the conditions shown below.
Parameter setting content
ORIG mode
RESET
ORIG ALM
(1-097)
C
limit switch origin [Sensor]
SVON
input
ORIG sensor
2. N.C
* Alarm is generated with condition above when the sensor is
not mounted to the actuator.
<Countermeasure> 1.Check whether the movement of the
actuator is obstructed.
2. Please check the Return to origin parameter and motor and
sensor type.
RESET
Servo off ALM
(1-098)
C
SVON
input
<Contents> While the servo motor is off, the return to origin
operation, JOG operation or MOVE operation is requested.
<Countermeasure> Modify the setting so that those operations
will be requested while the servo motor is ON (the SVON input
is ON).
<Contents> Return to origin parameter has the conditions
shown below.
Parameter setting content
ORIG mode
ORIG Sens ALM
(1-103)
C
RESET
SVON
input
ORIG sensor
1
Pushing origin operation [Stop]
1. N.O
2
Limit switch origin [Sensor]
0. Disable
or
1. N.O
* Alarm is generated with condition above when the sensor is
not mounted to the actuator.
<Countermeasure> Sensor installation and return to origin
parameter and motor and sensor type is setting to have confirm.
AbEnc Comm ALM
(1-106)
C
RESET
SVON
input
<Contents> The alarm is generated when the communication
between the driver ciruit and the absolute ciruit is not normal.
(This driver has not absolute function.)
<Countermeasure> Make sure that the sensor type of the
basic parameter is 1. After the parameter is changed, it is
necessary to reapply the power.
- 55 -
Overflow ALM
[6C]
(1-108)
Over speed
(1-144)
C
D
RESET
SVON
input
RESET
SVON
Input
<Contents>Position deviation counter in the driver has
overflowed during the operation by pulse signals.
<Countermeasure> Make sure there are no obstructions that
interfere with the actuator movement. Also, make sure that the
load, speed, acceleration and deceleration are within the range
of the actuators.
<Contents> The motor speed exceeds a specific level due to
an external force, etc.
<Countermeasure> Make improvements such that the motor
speed will not exceed the maximum speed of the actuator.
Caution
Please refer to the manual or the catalogue of the actuator
for the maximum speed of the actuator.
<Contents>The motor power supply voltage is out of
range.During [SVON] .
<Countermeasure> Make sure that the voltage supplied to the
motor power (M24V) of the driver is within specification.
Caution
Over motor Vol
(1-145)
D
RESET
SVON
Input
If the power supply is “rush-current restraining type”, a
voltage drop may cause an alarm during the
acceleration/deceleration.
<Contents> Also, a regenerative electric power may cause an
alarm due to the method of operation of the actuator.
<Countermeasure> Make sure that the operating conditions
are within the specifications.
Caution
Over Temp.
(1-146)
D
RESET
SVON
Input
Please refer to the manual or the catalogue of the actuator
for the method of operation of the actuator.
<Contents> The temperature around the power element of the
driver is too high.
<Countermeasure> Make improvements so that the
temperature around the driver is kept appropriate.
<Contents> The control power supply voltage within the
driver is out of a range.
<Countermeasure> Make sure that the voltage supplied to
the control power (C24V) of the driver is appropriate.
Caution
Over Crtl Vol
(1-147)
D
RESET
SVON
Input
If one power supply is commonly used for the control power
and the motor power, or the power supply is ”rush-current
restraining type”, a power voltage drop may be caused due
to a voltage drop during the acceleration/deceleration.
<Contents> Also, a regenerative electric power may be
generated to cause an alarm due to the method of operation of
the actuator.
<Countermeasure> Make sure that the operating
conditions are within the specifications.
Caution
Please refer to the manual or the catalogue of the actuator
for the method of operation of the actuator.
- 56 -
Over load
(1-148)
D
RESET
SVON
Input
<Contents> The output current accumulated value exceeds the
specified value.
<Countermeasure> Check whether the movement of the
actuator is obstructed.Also confirm whether the actuator load,
speed, acceleration and deceleration are within the
specification range of the actuator.
<Contents> Failed to reach to the set position within the set time
limit during origin operation, Move operation or JOG operation.
This alarm is not generated by operation triggered by pulse signal.
D
RESET
SVON
Input
Ctrl Comm ALM
(1-150)
D
RESET
SVON
Input
Encoder ALM
(1-192)
E
Power off
Posn failed
(1-149)
Phase Det ALM
(1-193)
<Countermeasure> Eliminate any obstructions that interfere
with the actuator movement.
Also, make sure that the load, speed, acceleration and
deceleration are within the range of the actuators.
<Contents> The connection with the higher-level devices (such
as the PC and teaching box) is disconnected.
<Countermeasure> Make sure that the higher-level devices will
not be disconnected during the actuator operation.
<Contents> Abnormality in communication with the encoder.
E
Power off
<Countermeasure> Check the connection of the actuator cable.
<Contents> Unable to find the motor phase within the set time.
(When the servo motor is turned on (SVON is turned on) first
time after the power is applied, the actuator needs to move a
little to find the motor phase. However, if this actuator
movement is prevented, this alarm will be activated.)
<Countermeasure> Make sure there are no obstructions that
interfere with the actuator movement and then, turn on the servo
motor (SVON is turned on).
Over current
(1-194)
E
Power off
I sens ALM
(1-195)
E
Power off
<Contents> The output current of the power circuit is
extraordinarily high.
<Countermeasure> Make sure that there are no short circuits of
actuator cables, connectors, etc. In addition, make sure that the
actuator conforms to the driver.
<Contents> An abnormality is detected by the current sensor
that is checked when the driver is reset.
<Countermeasure> Make sure that the actuator conforms to the
driver. Even after this measure, if the alarm regenerates when
the power is reapplied, please contact SMC.
<Contents> Position deviation counter in the driver has
overflowed during JOG or MOVE operation.
Err overflow
(1-196)
E
Power off
<Countermeasure> Check if the travel of the actuator is
interrupted. Check if the load of the actuator is within the
specification range.
- 57 -
Memory ALM
(1-197)
CPU ALM
(1-198)
<Contents> An error of the EEPROM is occurred.
E
E
Power off
<Countermeasure> Please contact SMC.
Power off
<Contents> The CPU is not operating normally.
(It is possible that the CPU or surrounding circuits is failed or a
malfunction of the CPU is occurred due to an electric noise).
<Countermeasure> If the alarm cannot be deactivated even
after the power is reapplied, please contact SMC.
- 58 -
13. Wiring of cables/Common precautions
Warning
1. Adjusting, mounting or wiring change should never be done before shutting off the power
supply to the product.
Electrical shock, malfunction and damaged can result.
2. Never disassemble the cable. Use only specified cables.
3.
1.
2.
3.
4.
5.
6.
7.
8.
Never connect or disconnect the cable or connector with power on.
Caution
Wire the connector securely. Do not apply any voltage to the terminals other than those
specified in the product Manual.
Wire the connector securely.
Check for correct connector wiring and polarity.
Take appropriate measures against noise.
Noise in a signal line may cause malfunction. As a countermeasure, separate high voltage and low
voltage cables, and shorten wiring lengths, etc.
Do not route wires and cables together with power or high voltage cables.
The product can malfunction due to interference of noise and surge voltage from power and high
voltage cables to the signal line. Route the wires of the product separately from power or high
voltage cables.
Take care that actuator movement does not catch cables.
Operate with cables secured. Avoid bending cables at sharp angles where they enter the product.
Avoid twisting, folding, rotating or applying an external force to the cable.
Risk of electric shock, wire break, contact failure and lost of control for the product can happen.
Fix the motor cable protruding from the product in place before using.
The motor and lock cables are not robotic type cables and can be damaged when moved.Therefore
do not place A part below it in a flexible moving tube.
Connector
Motor cable
Actuator cable
Robotic type cable (Flexible type cable)
A
9.
Select “Robotic type cables” in case of inflecting actuator-cable repeatedly. And do not put
cables into a flexible moving tube with a radius smaller than the specified value. (Min.
50mm).
Risk of electric shock, wire break, contact failure and loss of control for the product can happen if
“Standard cables” are used in case of inflecting the cables repeatedly.
10. Confirm proper wiring of the product.
Poor insulation (interference with other circuits, poor insulation
between terminals and etc.) can apply excessive voltage or current to
the product causing damage.
11. The Speed / pushing force may vary, depending on the cable length, load and mounting
conditions etc..
If the cable length exceeds 5m, the speed / pushing force will be reduced by a maximum of 10% per
5m. (If cable length is 15m: Maximum 20% reduction.)
[Transportation]
Caution
1. Do not carry or swing the product by the motor or the cable
- 59 -
14. Electric actuators/Common precautions
14.1 Design and selection
Warning
1. Be sure to read the Operation Manual.
Handling or usage/operation other than that specified in the Operation Manual may lead to
breakage and operation failure of the product.
Any damage attributed to the use beyond the specifications is not guaranteed.
2. There is a possibility of dangerous sudden action by the product if sliding parts of machinery
are twisted due to external forces, etc.
In such cases, human injury may occur, such as by catching hands or feet in the machinery, or damage to the
machinery itself may occur. Design the machinery should be designed to avoid such dangers.
3. A protective cover is recommended to minimize the risk of personal injury.
If a driven object and moving parts of the product are in close proximity, personal injury may occur.
Design the system to avoid contact with the human body.
4. Securely tighten all stationary parts and connected parts so that they will not become loose.
When the product operates with high frequency or is installed where there is a lot of vibration,
ensure that all parts remain secure.
5. Consider a possible loss of power source.
Take measures to prevent injury and equipment damage even in the case of a power source failure.
6. Consider behavior of emergency stop of whole system.
Design the system so that human injury and/or damage to machinery and equipment will not be
caused, when it is stopped by a safety device for abnormal conditions such as a power outage or a
manual emergency stop of whole system.
7. Consider the action when operation is restarted after an emergency stop or abnormal stop of
whole system.
Design the system so that human injury or equipment damage will not occur upon restart of
operation of whole system.
8. Disassembly and modification prohibited
Do not modify or reconstruct (including additional machining) the product. An injury or failure can result.
9. Do not use stop signal,"EMG" of the driver and stop switch on the teaching box as the
emergency stop of system.
The stop signal, "EMG" of driver and the stop switch on the teaching box are for decelerating and
stopping the actuator.
Design the system with an emergency stop circuit which is applied relevant safety standard separately.
10. When using it for vertical application, it is necessary to build in a safety device.
The rod may fall due to the weight of work. The safety device should not interfere with normal
operation of the machine.
Caution
1. Operate within the limits of the maximum usable stroke.
The product will be damaged if it is used with the stroke which is over the maximum stroke. Refer to
the specifications of the product.
2. When the product repeatedly cycles with partial strokes, operate it at a full stroke at least
once a day or every 1000 strokes.
Otherwise, lubrication can run out.
- 60 -
3.
Do not use the product in applications where excessive external force or impact force is
applied to it.
The product can be damaged. Each component that includes motor is made with accurate tolerance.
So even slightly deformed or miss-alignment of component may lead operation failure of the
product.
4.
Refer to a common auto switch /matter (Best Pneumatics No 2) when an auto switch is built
in and used.
5.
When conformity to UL is required, the electric actuator and driver should be used with a
UL1310 Class 2 power supply.
14.2 Mounting
Warning
1.
Install and operate the product only after reading the Operation Manual carefully and
understanding its contents. Keep the manual in a safe place future reference.
2.
Observe the tightening torque for screws.
Tighten the screws to the recommended torque for mounting the product.
3.
Do not make any alterations to this product.
Alterations made to this product may lead to a loss of durability and damage to the product, which
can lead to human injury and damage to other equipment and machinery.
4.
When using external guide, the guide axis should be parallel to the actuator axis.
There will be damage/excessive wear on the lead screw if the external guide is not parallel.
5.
When an external guide is used, connect the moving parts of the product and the load in
such a way that there is no interference at any point within the stroke.
Do not scratch or dent the sliding parts of the product tube or piston rod etc., by striking or grasping
them with other objects. Components are manufactured to precise tolerances, so that even a slight
deformation may cause faulty operation.
6.
Prevent the seizure of rotating parts.
Prevent the seizure of rotating parts (pins, etc.) by applying grease.
7.
Do not use the product until you verify that the equipment can be operated properly.
After mounting or repair, connect the power supply to the product and perform appropriate functional
inspections to check it is mounted properly.
8.
At the overhang mounted impeller fixation
There is a possibility that the power at the bending moment damages the actuator when moving it at
high speed.
The support metal fittings that suppress the vibration of the main body of the actuator are installed.
Lower and use speed for the state that the actuator doesn't vibrate.
9.
When mounting the actuator or attaching to the work piece, do not apply strong impact or
large moment.
If an external force over the allowable moment is applied, it may cause looseness in the guide unit,
an increase in sliding resistance or other problems.
10.
Maintenance space.
Allow sufficient space for maintenance and inspection.
- 61 -
14.3 Handling
1.
2.
3.
4.
5.
6.
1.
2.
3.
4.
5.
6.
7.
Warning
Do not touch the motor while in operation.
The surface temperature of the motor can increase to approx. 90oC to 100oC due to operating
conditions. Energizing alone may also cause this temperature increase. As it may cause burns, do
not touch the motor when in operation.
If abnormal heating, smoking or fire, etc., occurs in the product, immediately shut off the
power supply.
Immediately stop operation if abnormal operation noise or vibration occurs.
If abnormal operation noise or vibration occurs, the product may have been mounted incorrectly.
Unless operation of the product is stopped for inspection, the product can be seriously damaged.
Never touch the rotating part of the motor or moving part of the actuator while in operation.
When installing, adjusting, inspecting or performing maintenance on the product, driver and related
equipment, be sure to shut off the power supply to each of them. Then, lock it so that no one other than
the person working can turn the power on, or implement measures such as a safety plug.
In the case of the actuator that has a servo motor (24VDC), the “motor phase detection step"
is done by inputting the servo on signal just after the driver power is turned on. The “motor
phase detection step” operates the table/rod to the maximum distance of the lead screw.
(The motor rotates in the reverse direction if the table hits an obstacle such as the end stop
damper.) Take the “motor phase detection step” into consideration for the installation and
operation of this actuator.
Caution
Keep the driver and product combined as delivered for use.
The product is set in parameters for shipment. If it is combined with a different parameter, failure can result.
Check the product for the following points before operation.
a) Damage to electric driving line and signal lines
b) Looseness of the connector to each power line and signal line
c) Looseness of the actuator/cylinder and driver/driver mounting
d) Abnormal operation
e) Emergency stop of the total system
When more than one person is performing work, decide on the procedures, signals,
measures and resolution for abnormal conditions before beginning the work. Also,
designate a person to supervise work other than those performing work.
Actual speed of the product will be changed by the workload.
Before selecting a product, check the catalog for the instructions regarding selection and
specifications.
Do not apply a load, impact or resistance in addition to a transferred load during return to origin.
In the case of the return to origin by pushing force, additional force will cause displacement of the
origin position since it is based on detected motor torque.
Do not remove the name plate.
Operation test should be done by low speed. Start operation by predefined speed after
confirming there is no trouble.
[Earth]
Warning
Please give the earth of the actuator.
Please make it to the earth of the exclusive use. The earth construction is D seed.
(Below earth resistance 100Ω)
3. Please shorten the distance until the actuator and earth.
1.
2.
- 62 -
[Unpackaging]
Caution
1. Check the received product is as ordered.
If a different product is installed from the one ordered, injury or damage can result.
14.4 Operating environment
1.
2.
3.
4.
5.
Warning
Avoid use in the following environments.
a. Locations where a large amount of dusts and cutting chips are airborne.
b. Locations where the ambient temperature is outside the range of the temperature specification
(refer to specifications).
c. Locations where the ambient humidity is outside the range of the humidity specification (refer to
specifications).
d. Locations where corrosive gas, flammable gas, sea water, water and steam are present.
e. Locations where strong magnetic or electric fields are generated.
f. Locations where direct vibration or impact is applied to the product.
g. Areas that are dusty, or are exposed to splashes of water and oil drops.
h. Areas exposed to direct sunlight (ultraviolet ray).
Do not use in an environment where the product is directly exposed to liquid, such as cutting oils.
If cutting oils, coolant or oil mist contaminates the product, failure or increased sliding resistance can
result.
Install a protective cover when the product is used in an environment directly exposed to
foreign matters such as dust, cutting chips and spatter.
Play or increased sliding resistance can result.
Shade the sunlight in the place where the product is applied with direct sunshine.
Shield the valve from radiated heat generated by nearby heat sources.
When there is a heat source surrounding the product, the radiated heat from the heat source can
increase the temperature of the product beyond the operating temperature range. Protect it with a
cover, etc.
6.
Grease oil can be decreased due to external environment and operating conditions, and it
deteriorates lubrication performance to shorten the life of the product.
[Storage]
Warning
1. Do not store the product in a place in direct contact with rain or water drops or is exposed to
harmful gas or liquid.
2.
Store in an area that is shaded from direct sunlight and has a temperature and humidity
within the specified range (-10oC to 60oC and 90% or less No condensation or freezing.
3.
Do not apply vibration and impact to the product during storage.
- 63 -
14.5 Maintenance
Warning
1. Do not disassemble or repair the product.
Fire or electric shock can result.
2. Before modifying or checking the wiring, the voltage should be checked with a tester 5
minutes after the power supply is turned off.
Electrical shock can result.
Caution
1. Maintenance should be performed according to the procedure indicated in the Operating
Manual.
Incorrect handling can cause injury, damage or malfunction of equipment and machinery.
2. Removal of product.
When equipment is serviced, first confirm that measures are in place to prevent dropping of work
pieces and run-away of equipment, etc, and then cut the power supply to the system. When
machinery is restarted, check that operation is normal with actuators in the proper positions.
[Lubrication]
Caution
1. The product has been lubricated for life at manufacturer, and does not require lubrication in
service.
Contact SMC if lubrication will be applied.
14.6 Precautions for actuator with lock
1.
2.
3.
4.
5.
6.
7.
8.
Warning
Do not use the lock as a safety lock or a control that requires a locking force.
The lock used for the product with a lock is designed to prevent dropping of work piece.
For vertical mounting, use the product with a lock.
If the product is not equipped with a lock, the product will move and drop the work piece when
the power is removed.
"Measures against drops” means preventing a work piece from dropping due to its
weight when the product operation is stopped and the power supply is turned off.
Do not apply an impact load or strong vibration while the lock is activated.
If an external impact load or strong vibration is applied to the product, the lock will lose it’s
holding force and damage to the sliding part of the lock or reduced lifetime can result. The
same situations will happen when the lock slips due to a force over the thurst of the product, as
this accelerates the wear to the lock.
Do not apply liquid or oil and grease to the lock or its surrounding.
When liquid or oil and grease is applied to the sliding part of the lock, its holding force will
reduce significantly.
Take measures against drops and check that safety is assured before mounting,
adjustment and inspection of the product.
If the lock is released with the product mounted vertically, a work piece can drop due to its weight.
When the actuator is operated manually (when SVRE output signal is off), supply 24DCV
to the [BK RLS] terminal of the power supply connector.
If the product is operated without releasing the lock, wearing of the lock sliding surface will be
accelerated, causing reduction in the holding force and the life of the locking mechanism.
Do not supply 24VDC power supply constantly to the [BK RLS(Lock release)] terminal.
Stop supplying 24VDC power supply to the [BK RLS(Lock release) terminal during normal
operation. If power is supplied to the [BK RLS] terminal continuously, the lock will be released,
and workpieces may be dropped at stop (EMG).
/Refer to the operation manual of LEC (controller) for details of wiring.
- 64 -
15. Driver and its peripheral devices /Specific product precautions
15.1 Design and selection
Warning
1.
Be sure to apply the specified voltage.
Otherwise, a malfunction and breakage of the driver may be caused.
If the applied voltage is lower than the specified, it is possible that the load cannot be moved due to
an internal voltage drop. Please check the operating voltage before use.
2.
Do not operate beyond the specifications.
It may cause a fire, malfunction or actuator damage can result. Please check the specifications before
use.
3.
Install an emergency stop circuit.
Please install an emergency stop outside of the enclosure so that it can stop the system operation
immediately and intercept the power supply.
4.
In order to prevent danger and damage due to the breakdown and the malfunction of this
product, which may occur at a certain probability, a backup system should be established
previously by giving a multiple-layered structure or a fail-safe design to the equipment, etc.
5.
If a fire or danger against the personnel is expected due to an abnormal heat generation,
ignition, smoking of the product, etc., cut off the power supply for this product and the
system immediately.
6.
Moving element of the actuator might pulsate when stopping without deviation of pulse in
the pushing in operation.
15.2 Handling
1.
2.
3.
4.
5.
6.
7.
8.
Warning
The inside of the driver and its connector should not be touched.
It may cause an electric shock or damage to the driver.
Do not perform the operation or setting of this equipment with wet hands.
It may cause an electric shock.
Product with damage or the one lacking of any components should not be used.
It may cause an electric shock, fire, or injury.
Use only the specified combination between the driver and electric actuator.
It may cause damage to the driver or the actuator.
Be careful not to be caught or hit by the workpiece while the actuator is moving.
It may cause an injury.
Do not connect the power supply or power on the product before confirming the area where
the work moves is safe.
The movement of the work may cause accident.
Do not touch the product when it is energized and for some time after power has been
disconnected, as it is very hot.
It may lead to a burn due to the high temperature.
Check the voltage using a tester for more than 5 minute after power-off in case of installation,
wiring and maintenance.
There is a possibility of getting electric shock, fire and injury.
- 65 -
9.
Do not use in an area where dust, powder dust, water or oil is in the air.
It will cause failure or malfunction.
10. Do not use in an area where a magnetic field is generated.
It will cause failure or malfunction.
11. Do not install in the environment of flammable gas, corrosive gas and explosive gas.
It could lead to fire, explosion and corrosion.
12. Radiant heat from strong heat supplys such as a furnace, direct sunlight, etc. should not be
applied to the product.
It will cause failure of the driver or its peripheral devices.
13. Do not use the product in an environment subject to a temperature cycle.
It will cause failure of the driver or its peripheral devices.
14. Do not use in a place where surges are generated.
When there are units that generate a large amount of surge around the product (e.g., solenoid type
lifters, high frequency induction furnaces, motors, etc.), this may cause deterioration or damage to
the product’s' internal circuit. Avoid supplys of surge generation and crossed lines.
15. Do not install this product in an environment under the effect of vibrations and impacts.
It will cause failure or malfunction.
16. If this product is used with a relay or solenoid valve, they should be the surge absorbing
element built-in type.
- 66 -
15.3 Installation
Warning
1.
The driver and its peripheral devices should be installed on a fire-proof material.
A direct installation on or near a flammable material may cause fire.
2.
Do not install this product in a place subject to vibrations and impacts.
It may cause an electric shock, fire, or injury.
3.
Take measure so that the operating temperature of this driver and its peripheral devices are
within the range of the specifications.
Also, this driver should be installed with 50mm or
larger spaces between each side of it and the other structures or components.
It may cause a malfunction of the driver and its peripheral devices and a fire.
4.
Do not mount this driver and its peripheral devices together with a large-sized
electromagnetic contactor or no-fuse breaker, which generates vibration, on the same panel.
Mount them on different panels, or keep the driver and its peripheral devices away from such
a vibration supply.
5.
This driver and its peripheral devices should be installed on a flat surface.
If the mounting surface is distorted or not flat, an unacceptable force may be added to the housing,
etc. to cause troubles.
15.4 Wiring of cables
Warning
1.
Do not apply any excessive force to cables by repeated bending, tensioning or placing a
heavy object on the cables.
It may cause an electric shock, fire, or breaking of wire.
2.
Connect wires and cables correctly.
Incorrect wiring could break he driver or its peripheral devices depending on the seriousness.
3.
Do not connect wires while the power is supplied.
It can break the driver or its peripheral devices could be damaged to cause a malfunction.
4.
Do not carry this product by holding its cables.
It may cause an injury or damage to the product.
5.
Do not connect power cable or high-voltage cable in the same wiring route as the unit.
Te wires to the driver or its peripheral devices can be interrupted with noise or induced surge
voltage from power lines or high-voltage lines and malfunction could be caused.
Separate the wiring of the driver and its peripheral device from that of power line and high voltage
line.
6.
Verify the insulation of wiring.
Insulation failure (interference with other circuit, poor insulation between terminals and etc.) could
introduce excessive voltage or current to the driver or its peripheral devices and damage them.
- 67 -
15.5 Power supply
Caution
1. Use a power supply that has low noise between lines and between power and ground.
In cases where noise is high, an isolation transformer should be used.
2. The power supplys should be separated between the driver power and the I/O signal power
and both of them do not use the power supply of “rush-current restraining type”.
If the power supply is “rush-current restraining type”, a voltage drop may be caused during the
acceleration of the actuator.
3. To prevent surges from lightning, an appropriate measure should be taken. Ground the surge
absorber for lightning separately from the grounding of the driver and its peripheral devices.
15.6 Grounding
Warning
1. Be sure to carry out grounding in order to ensure the noise tolerance of the driver.
It may cause an electric shock or fire.
2. Dedicated grounding should be used.
Grounding should be to a D-class ground (Ground resistance of 100 Ω or less.)
3. Grounding should be performed near the unit as much as possible to shorten the grounding
distance.
4.
In the unlikely event that malfunction is caused by the ground, it may be disconnected.
15.7 Maintenance
Warning
1. Perform a maintenance check periodically
Confirm wiring and screws are not loose.
Loose screws or wires may cause unintentional malfunction.
2. Conduct an appropriate functional inspection after completing the maintenance.
In case of any abnormities (in the case that the actuator does no move, etc.), stop the operation of
the system. Otherwise, an unexpected malfunction may occur and it will become impossible to
secure the safety.
3. Do not disassemble, modify or repair this driver and the peripheral equipment.
4.
Do not put anything conductive or flammable inside of this driver.
It may cause a fire and explosion.
5.
Do not conduct an insulation resistance test and withstand voltage test on this product.
6.
Ensure sufficient space for maintenance activities.
Provide space required for
maintenance.
Design the system that allows required space for maintenance.
- 68 -
16. Troubleshooting
In case of any troubles, please consult thefollowing table.
Consider replacing driver, if not of the causes on this table are applicable. It is possible that this product
is damaged due to the operating conditions (applications), please contact SMC to discuss appropriate
measures.
16.1 Operation trouble
Trouble
The actuator
does not
move at all.
Possible
cause
How to diagnose the trouble
Solutions
Power fault
Check if the LED (green) of the driver is lit.
The power supply, voltage or current should
be modified to an appropriate one.
→ 4. External Wiring Diagram (page 17)
→ 5. CN1: Power supply plug (page 19)
External
device fault
Check if the PLC connected to the driver
is working well. Test operation of the
driver stand-alone.
Take appropriate measures according to
this manual.
→ 6.3 The parallel I/O signal is detailed
(page 26)
Wiring fault
Check if the driver is wired correctly
according to this manual without any
breakings and short circuits.
Correct the wiring so that the input/output of
each signal is performed appropriately.
Separate the power supply for the
CN1driver power supply and the CN5 I/O
signal power supply.
→ 4. External Wiring Diagram (page 17)
→ 6.4 Parallel I/O connector wiring
(Example) (page 28)
Alarm
condition
Check if the driver is in the alarm
condition. If it is, check the type of alarm
referring to this manual.
Take appropriate measures according to
this manual.
→ 12. Alarm Detection (page 53)
Lock release
error
Check if you can hear the sound of ｌock
release when the manual lock switch is
turned on and off.
Inappropriate
specifications
Input of the
incorrect
signal
Check if the driver’s specifications are
appropriate, the power supply is suitable
and the actuator is compatible to the
driver.
Causes of product not operating even
when the pulse signal is input
1. Servo is OFF
2. CLR input is ON
3. The return to origin inside
4. Test in operation by controller setting
software/teaching box
Wrong
parameters
Please check if the setting of the input
mode of the pulse signal correct.
Alarm
condition
Check if the driver is in the alarm
condition. If it is, check the type of alarm
referring to this manual.
Wiring fault
Check if the driver is wired correctly
according to this manual without any
break and short circuits.
Move
occasionally.
- 69 -
If there is no sound of lock release, the lock
brake is possibly broken.
→ If the trouble continues, please contact
SMC.
Check the actuator part number to replace
with one of the appropriate ones compatible
to the driver.
→ 3. Product Specifications (page 12)
1. Turn on the servo
2. Turn off the CLR input.
3. Please do not input the pulse signal in the
return to origin.
4. Please do not input the pulse signal to the
test in operation by controller setting
software/teaching box.
Please confirm whether the setting of the
input mode of the pulse signal is correct.
→ 7.2 Basic parameter (page 32)
Take appropriate measures according to
this manual.
→ 12. Alarm Detection (page 53)
Correct the wiring so that the input/output of
each signal is performed appropriately.
Separate the power supply for the
CN1driver power supply and the CN5 I/O
signal power supply.
→ 4. External Wiring Diagram (page 17)
→ 6.4 Parallel I/O connector wiring
(Example) (page 28)
Electric noise
Check if the grounding for the driver is
appropriate. Also, check if the cables
are not bundled.
Take appropriate measures according to
this manual.
→ 3.4 How to install (page 15)
Inappropriate
parameter
Check if the parameters are appropriate.
Check if the driver is compatible to the
actuator.
Modify the parameters accordingly and
check the operation.
→ 7. Setting Data Entry (page 30)
Voltage drop
Check if there are any temporary voltage
drops for the power supply.
(In case of a voltage drop, the EMG
terminal of CN1 power driver will be
turned off to put the actuator in an stop
condition. However, this stop will be
released when the voltage recovers.)
Replace the power supply.
But do not use the power supply of
“rush-current restraining type”.that has a
sufficient capacity.
→ 3. Product Specifications (page 12)
Inappropriate
specifications
Check the actuator part number to replace
Check if the driver’s specifications are
with one of the appropriate ones compatible
appropriate, the power supply is suitable
to the driver.
and the driver is compatible to the actuator.
→ 3. Product Specifications (page 12)
Signal timing
Check the timing of the signal from the
PLC to the driver.
PLC processing delay and driver scan delay
are generated. Please ensure an interval of
15ms(30 ms if possible)or more between
input signals, and maintain the signal state.
→ 8.3 Response time for the driver input
signal Driver input signal response time
(page 38)
Signal timing
Followings are precautions during pushing
operation
1. If an alarm is generated during pushing
Make sure that TLOUT output is ON during operation, turn off TL input once, then turn it
on again. (TL signal is recognized by the
pushing operation.
starting edge)
TLOUT signal is OFF in following
2. Do not turn on TL input during returning to
conditions.
origin. If returning to origin is commanded
1. Alarm generated
during pushing operation, turn off TL input,
2. Return to origin
then turn it on again.
3. Servo is OFF (SVRE output is OFF)
3. Do not turn on TL input during servo OFF
(SVRE output is OFF). Signal is not
recognized.
USB driver is
not installed
Please confirm if the USB driver of the
communication unit is installed.
Please install the USB driver of the
communication unit.
The USB driver's installation starts when the
communication unit is connected with
PC.The detail of the installation procedure is
shown in "Installation procedure of the
LEC-W2 setting software".
Please confirm if the correct COM port
is set to the ACTController
The COM port allocated to the
communication unit is different according to
customer’s PC. Please confirm the COM port
number with the PC communication unit
connected.The COM port number can be
checked by checking device manager in PC.
Please confirm.The detail of the COM port
checking method and setting method is
shown in " Installation procedure of the
LEC-W2 setting software " .
Move
occasionally.
Communication
fault.(LEC-W2)
Incorrect
COM port
setting
- 70 -
Communication Inappropriate
fault.(LEC-W2) connection
Incorrect
display
The screen is
not displayed
properly by
the controller
setup
software
Please confirm the connection status.
Please confirm motor driver (LEC) =
communications cable = communication unit
= USB cable = PC is connected.
As example, can not make the
communication if the connector have been
damaged. Please confirm the power supply
of motor driver (LEC) has been turned on.
The communication is not made if the Power
supply is off. If the equipments (PLC and
measurement hardware) except motor driver
(LEC) is connected with PC. (There is a
possibility that the communication with other
equipment interferes in PC.)interferes in PC.)
Old version of the controller setting
software.
Upgrade the controller setting software.
To upgrade the software, please go to the
operation manual page of SMC website.
http://www.smcworld.com/
- 71 -
16.2 Position/Speed trouble
Trouble
The
actuator
does not
move to
the correct
position.
The
actuator
does not
move
correctly.
Possible
cause
How to diagnose the trouble
Solutions
Incorrect
origin
position
If it is a pushing operation, repeat return
to origin operations several times to
check if the actuator returns to the origin
correctly.
Take measure to make the actuator operates
normally (remove foreign matters that
interferes with the actuator movement, etc.)
Inappropriate
basic
parameters
Check if the values for the parameter are
appropriate and the program is correct.
Review the maximum speed, the
maximum acceleration and the maximum
deceleration of the actuator.
Modify the parameters to appropriate ones and
test the operation.
→ 7. Setting Data Entry (page 30)
Inappropriate
specifications
Check if the driver’s specifications are
appropriate, the power supply is suitable
and the driver is compatible to the
actuator.
Take appropriate measures according to this
manual.
→ 3. Product Specifications (page 12)
Incorrect
pulse input
Check if the input pulse is correct.
Modify the pulse and test the operation.
→ 9. Operation (example) (page 40)
Wiring fault
Check if the driver is wired correctly
according to this manual without any
breaks and short circuits.
Correct the wiring so that the input/output of
each signal is performed appropriately.
Separate the power supply for the CN1 driver
power supply and the CN5 I/O signal power
supply.
→ 4. External Wiring Diagram (page 17)
→ 6.4 Parallel I/O connector wiring (Example)
(page 28)
Inappropriate
specifications
Check if the driver’s specifications are
appropriate, the power supply is suitable
and the driver is compatible to the
actuator.
Take appropriate measures according to this
manual.
→ 3. Product Specifications (page 12)
Signal timing
Check the timing of the signal from the
PLC to the driver.
PLC processing delay and driver scan delay
are generated. Please ensure an interval of
15ms(30 ms if possible) or more between input
signals, and maintain the signal state.
→ 8.4 Response time for the driver input signal
(page 39)
Data writing
failure
Check whether data (step data,
parameter) is written correctly.
Do not turn off the driver input power or
remove the cable while data is being
written (green light flashing).
Input correct data (step data, parameter) again
and confirm operation.
→ 3.2 Parts description (page 13)
→ 7. Setting Data Entry (page 30)
Not operating
Is correct pulse wave is selected by
Check the pulse signal specification from the
correctly
parameter "Option 1"?
positioning unit to set correctly.
This product checks the input pulse
Apply power to the positioning unit (pulse
Not operating
correctly
Inappropriate
basic
parameters
Insufficient
speed
Inappropriate
step data
reference (pulse OFF condition) during the generator), and turn ON the initial SVON input
initial SVON input is ON.
Check if the values for the parameter are
appropriate and the program is correct.
Review the maximum speed and the
maximum acceleration of the actuator.
Check if a trapisodial acceleration /
deceleration is programmed for the
actuator operation. In case of such
operation, the actuator may start slowing
down before it reaches the maximum
speed.
- 72 -
with pulse not being input.
Modify the values of the parameters to
appropriate ones and test the operation.
→ 7. Setting Data Entry (page 30)
Modify the setting to make the moving distance
longer or the acceleration larger.
→ 7. Setting Data Entry (page 30)
Inappropriate
specifications
Check if the driver’s specifications are
appropriate, the power supply is suitable
and the driver is compatible to the
actuator.
Take appropriate measures according to this
manual.
→ 3. Product Specifications (page 12)
Voltage drop
Check if there has been any temporary
voltage drop in the power supply.
(If there is a temporary voltage drop in
the power supply, the EMG terminal of
CN1 power connector will turn OFF so
the actuator will stop. However, this stop
will be released when the voltage
recovers.)
There is a possibility of a momentary voltage
drop because the capacity of the power supply
is insufficient, or the power supply has inrush
current restraining specification.
→ 3. Product Specifications (page 12)
Incorrect
pulse input
Check if the input pulse is correct.
Modify the pulse and test the operation.
→ 9. Operation (example) (page 40)
Insufficient
speed
- 73 -
Appendix 1. Default setting value per actuator
Appendix 1.1 LEY/LEYG series setting value
LEY/LEYG Step data default
Model
LEY16/LEYG16
LEY25/LEYG25
LEY32/LEYG32
Lead[mm]
10
12
16
No.
Movement MOD
Step data default
Speed
500
5
2.5
6
3
8
0
0
0
ABS
ABS
ABS
250
125
500
250
125
500
250
Position
0.00
0.00
0.00
Acceleration
3000
3000
3000
Deceleration
3000
3000
3000
Pushing force
85
65
85
Trigger LV
85
65
85
Pushing speed
50
35
30
Moving force
100
100
100
Area1
0.00
0.00
0.00
Area2
0.00
0.00
0.00
In position
0.50
0.50
0.50
- 74 -
4
125
LEY/LEYG Basic parameter default
Model
LEY16/LEYG16
Lead[mm]
10
5
LEY25/LEYG25
2.5
12
6
LEY32/LEYG32
3
16
8
4
250
125
Controller ID
1
1
1
IO pattern
1
1
1
Acceleration/
1
1
1
S-motion ratio
0
0
0
Storoke(+)
1000.00
1000.00
1000.00
Storoke(-)
-1000.00
-1000.00
-1000.00
Deceleration pattern
Basic parameter default
Maximum speed
Maximum acceleration/
500
250
125
500
250
125
500
3000
3000
3000
Default In position
0.50
0.50
0.50
ORIG offset
0.00
0.00
0.00
Max force
85
65
85
Para protect
1
1
1
Enable SW
2
2
2
deceleration
Unit name
Part no. of each product
W-AREA1
0.00
0.00
0.00
W-AREA2
0.00
0.00
0.00
ORG Correct
0.00
0.00
0.00
Sensor type
1
1
1
Option set1
0
0
0
Undefined parameter11
1
1
1
Undefined parameter12
1
1
1
LEY/LEYG Return to origin parameter default
Return to origin parameter default
Model
LEY16/LEYG16
LEY25/LEYG25
LEY32/LEYG32
ORIG direction
2
2
2
ORIG mode
1
1
1
ORIG limit
100
100
100
ORIG time
100
100
100
ORIG speed
20
20
20
ORIG ACC/DEC
1000
1000
1000
Creep speed
10
10
10
ORIG sensor
0
0
0
ORIG SW Dir
0
0
0
Undefined parameter21
0
0
0
- 75 -
Appendix 1.2 LEF series setting value
LEFS Step data default
Model
LEFS16
Lead[mm]
10
5
No.
Movement MOD
Step data default
Speed
LEFS25
12
LEFS32
6
16
LEFS40
8
20
10
0
0
0
0
ABS
ABS
ABS
ABS
500
250
500
250
500
250
500
250
Position
0.00
0.00
0.00
0.00
Acceleration
3000
3000
3000
3000
Deceleration
3000
3000
3000
3000
Pushing force
100
100
100
100
Trigger LV
100
100
100
100
Pushing speed
30
30
30
30
Moving force
100
100
100
100
Area1
0.00
0.00
0.00
0.00
Area2
0.00
0.00
0.00
0.00
In position
0.50
0.50
0.50
0.50
- 76 -
LEFS Basic parameter default
Model
LEFS16
Lead[mm]
10
LEFS25
5
12
LEFS32
6
16
LEFS40
8
20
Controller ID
1
1
1
1
IO pattern
1
1
1
1
Acceleration/
1
1
1
1
S-motion ratio
0
0
0
0
Storoke(+)
Storoke +2
Storoke +2
Storoke +2
Storoke +2
Storoke(-)
Storoke -2
Storoke -2
Storoke -2
Storoke -2
10
Deceleration pattern
Basic parameter default
Maximum speed
500
Maximum acceleration/
250
500
250
500
500
3000
3000
3000
3000
Default In position
0.50
0.50
0.50
0.50
ORIG offset
0.00
0.00
0.00
0.00
Max force
100
100
100
100
Para protect
1
1
1
1
Enable SW
2
2
2
2
deceleration
Unit name
Part no. of each product
W-AREA1
0.00
0.00
0.00
0.00
W-AREA2
0.00
0.00
0.00
0.00
ORG Correct
0.00
0.00
0.00
0.00
Sensor type
1
1
1
1
Option set1
0
0
0
0
Undefined parameter11
1
1
1
1
Undefined parameter12
1
1
1
1
LEFS Return to origin parameter default
Model
Return to origin parameter default
250
LEFS16
LEFS25
LEFS32
LEFS40
ORIG direction
2
2
2
2
ORIG mode
1
1
1
1
ORIG limit
100
100
100
100
ORIG time
100
100
100
100
ORIG speed
30
30
30
30
ORIG ACC/DEC
1000
1000
1000
1000
Creep speed
10
10
10
10
ORIG sensor
0
0
0
0
ORIG SW Dir
0
0
0
0
Undefined parameter21
0
0
0
0
- 77 -
250
LEFB Step data default
LEFB16
LEFB25
LEFB32
Lead[mm]
48
48
48
No.
0
0
0
Movement MOD
ABS
ABS
ABS
Speed
1100
1400
1500
Position
0.00
0.00
0.00
Acceleration
3000
3000
3000
Deceleration
3000
3000
3000
Pushing force
100
100
100
Trigger LV
100
100
100
Pushing speed
60
60
60
Moving force
100
100
100
Area1
0.00
0.00
0.00
Area2
0.00
0.00
0.00
In position
1.00
1.00
1.00
Step data default
Model
- 78 -
LEFB Basic parameter default
Model
LEFB16
Lead[mm]
LEFB25
LEFB32
48
48
48
Controller ID
1
1
1
IO pattern
1
1
1
Acceleration/
1
1
1
S-motion ratio
0
0
0
Storoke(+)
Storoke +2
Storoke +2
Storoke +2
Storoke(-)
Storoke -2
Storoke -2
Storoke -2
Maximum speed
1100
1400
1500
Maximum acceleration/
3000
3000
3000
Default In position
1.00
1.00
1.00
ORIG offset
0.00
0.00
0.00
Max force
100
100
100
Para protect
1
1
1
Enable SW
2
2
2
Basic parameter default
Deceleration pattern
deceleration
Unit name
Part no. of each product
W-AREA1
0.00
0.00
0.00
W-AREA2
0.00
0.00
0.00
ORG Correct
0.00
0.00
0.00
Sensor type
1
1
1
Option set1
0
0
0
Undefined parameter11
1
1
1
Undefined parameter12
1
1
1
LEFB Return to origin parameter default
Return to origin parameter default
Model
LEFB16
LEFB25
LEFB32
ORIG direction
2
2
2
ORIG mode
1
1
1
ORIG limit
100
100
100
ORIG time
200
200
200
ORIG speed
60
60
60
ORIG ACC/DEC
1000
1000
1000
Creep speed
10
10
10
ORIG sensor
0
0
0
ORIG SW Dir
0
0
0
Undefined parameter21
0
0
0
- 79 -
Appendix 1.3 LES series setting value
LES Step data default
Model
LESH8
Lead[mm]
8
5
LESH25
10
8
No.
0
0
0
Movement MOD
ABS
ABS
ABS
Speed
Step data default
4
LESH16
200
400
200
400
150
Position
0.00
0.00
0.00
Acceleration
5000
5000
5000
Deceleration
5000
5000
5000
Pushing force
70
70
70
Trigger LV
70
70
70
Pushing speed
20
20
20
Moving force
100
100
100
Area1
0.00
0.00
0.00
Area2
0.00
0.00
0.00
In position
0.50
0.50
0.50
- 80 -
16
400
LES Basic parameter default
Model
LESH8
Lead[mm]
4
LESH16
8
5
LESH25
10
8
16
Controller ID
1
1
1
IO pattern
1
1
1
Acceleration/
1
1
1
S-motion ratio
0
0
0
Storoke(+)
Storoke +1
Storoke +1
Storoke +1
Storoke(-)
-1.00
-1.00
-1.00
Maximum speed
200
Maximum acceleration/
5000
5000
5000
Default In position
0.50
0.50
0.50
ORIG offset
0.00
0.00
0.00
Max force
70
70
70
Para protect
1
1
1
Enable SW
2
2
2
Basic parameter default
Deceleration pattern
400
200
400
150
400
deceleration
Unit name
Part no. of each product
W-AREA1
0.00
0.00
0.00
W-AREA2
0.00
0.00
0.00
ORG Correct
0.00
0.00
0.00
Sensor type
1
1
1
Option set1
0
0
0
Undefined parameter11
1
1
1
Undefined parameter12
1
1
1
LES Return to origin parameter default
Return to origin parameter default
Model
LESH8
LESH16
LESH25
ORIG direction
2
2
2
ORIG mode
1
1
1
ORIG limit
100
100
100
ORIG time
100
100
100
ORIG speed
20
20
20
ORIG ACC/DEC
100
100
100
Creep speed
10
10
10
ORIG sensor
0
0
0
ORIG SW Dir
0
0
0
Undefined parameter21
0
0
0
- 81 -
Appendix 1.4 LEHZ series setting value
LEHZ Step data default
Model
Lead[mm]
No.
LEHZ16
LEHZ20
LEHZ25
LEHZ32
LEHZ40
251/73
249/77
246/53
243/48
242/39
254/43
0
0
0
ABS
ABS
ABS
80
100
120
Position
0.00
0.00
0.00
Acceleration
2000
2000
2000
Deceleration
2000
2000
2000
Pushing force
100
100
100
Trigger LV
100
100
100
Pushing speed
50
50
50
Moving force
150
150
150
Area1
0.00
0.00
0.00
Area2
0.00
0.00
0.00
In position
0.50
0.50
0.50
Movement MOD
Speed
Step data default
LEHZ10
- 82 -
LEHZ Basic parameter default
Model
Lead[mm]
LEHZ10
LEHZ16
LEHZ20
LEHZ25
LEHZ32
LEHZ40
251/73
249/77
246/53
243/48
242/39
254/43
Controller ID
1
1
1
IO pattern
1
1
1
Acceleration/
1
1
1
S-motion ratio
0
0
0
Storoke(+)
1000.00
1000.00
1000.00
Storoke(-)
-1000.00
-1000.00
-1000.00
Maximum speed
80
100
120
Maximum acceleration/
2000
2000
2000
Default In position
0.50
0.50
0.50
ORIG offset
1.00
1.00
1.00
Max force
100
100
100
Para protect
1
1
1
Enable SW
2
2
2
Basic parameter default
Deceleration pattern
deceleration
Unit name
Part no. of each product
W-AREA1
0.00
0.00
0.00
W-AREA2
0.00
0.00
0.00
ORG Correct
0.00
0.00
0.00
Sensor type
1
1
1
Option set1
0
0
0
Undefined parameter11
1
1
1
Undefined parameter12
1
1
1
LEHZ Return to origin parameter default
Return to origin parameter default
Model
LEHZ10
LEHZ16
LEHZ20
LEHZ25
LEHZ32
ORIG direction
2
2
2
ORIG mode
1
1
1
ORIG limit
100
100
100
ORIG time
100
100
100
ORIG speed
10
10
10
ORIG ACC/DEC
1000
1000
1000
Creep speed
10
10
10
ORIG sensor
0
0
0
ORIG SW Dir
0
0
0
Undefined parameter21
0
0
0
- 83 -
LEHZ40
LEHF Step data default
Model
LEHF10
LEHF20
LEHF32
LEHF40
40/15
50/15
70/16
70/16
0
0
0
0
ABS
ABS
ABS
ABS
80
100
100
100
Position
0.00
0.00
0.00
0.00
Acceleration
2000
2000
2000
2000
Deceleration
2000
2000
2000
2000
Pushing force
100
100
100
100
Trigger LV
100
100
100
100
Pushing speed
20
30
30
30
Moving force
150
150
150
150
Area1
0.00
0.00
0.00
0.00
Area2
0.00
0.00
0.00
0.00
In position
0.50
0.50
0.50
0.50
Lead[mm]
No.
Movement MOD
Step data default
Speed
- 84 -
LEHF Basic parameter default
Model
LEHF10
LEHF20
LEHF32
LEHF40
40/15
50/15
70/16
70/16
Lead[mm]
Controller ID
1
1
1
1
IO pattern
1
1
1
1
Acceleration/
1
1
1
1
S-motion ratio
0
0
0
0
Storoke(+)
1000.00
1000.00
1000.00
1000.00
Storoke(-)
-1000.00
-1000.00
-1000.00
-1000.00
Maximum speed
80
100
100
100
Maximum acceleration/
2000
2000
2000
2000
Default In position
0.50
0.50
0.50
0.50
ORIG offset
1.00
1.00
1.00
1.00
Max force
100
100
100
100
Para protect
1
1
1
1
Enable SW
2
2
2
2
Basic parameter default
Deceleration pattern
deceleration
Unit name
Part no. of each product
W-AREA1
0.00
0.00
0.00
0.00
W-AREA2
0.00
0.00
0.00
0.00
ORG Correct
0.00
0.00
0.00
0.00
Sensor type
1
1
1
1
Option set1
0
0
0
0
Undefined parameter11
1
1
1
1
Undefined parameter12
1
1
1
1
LEHF Return to origin parameter default
Return to origin parameter default
Model
LEHF10
LEHF20
LEHF32
LEHF40
ORIG direction
2
2
2
2
ORIG mode
1
1
1
1
ORIG limit
100
100
100
100
ORIG time
100
100
100
100
ORIG speed
10
10
10
10
ORIG ACC/DEC
1000
1000
1000
1000
Creep speed
10
10
10
10
ORIG sensor
0
0
0
0
ORIG SW Dir
0
0
0
0
Undefined parameter21
0
0
0
0
- 85 -
LEHS Step data default
Model
LEHS10
LEHS20
LEHS32
LEHS40
255/76
235/56
235/40
235/40
0
0
0
0
ABS
ABS
ABS
ABS
70
80
100
120
Position
0.00
0.00
0.00
0.00
Acceleration
2000
2000
2000
2000
Deceleration
2000
2000
2000
2000
Pushing force
100
100
100
100
Trigger LV
100
100
100
100
Pushing speed
50
50
50
50
Moving force
100
100
100
100
Area1
0.00
0.00
0.00
0.00
Area2
0.00
0.00
0.00
0.00
In position
0.50
0.50
0.50
0.50
Lead[mm]
No.
Movement MOD
Step data default
Speed
- 86 -
LEHS Basic parameter default
Model
LEHS10
LEHS20
LEHS32
LEHS40
255/76
235/56
235/40
235/40
Lead[mm]
Controller ID
1
1
1
1
IO pattern
1
1
1
1
Acceleration/
1
1
1
1
S-motion ratio
0
0
0
0
Storoke(+)
1000.00
1000.00
1000.00
1000.00
Storoke(-)
-1000.00
-1000.00
-1000.00
-1000.00
Maximum speed
70
80
100
120
Maximum acceleration/
2000
2000
2000
2000
Default In position
0.50
0.50
0.50
0.50
ORIG offset
1.00
1.00
1.00
1.00
Max force
100
100
100
100
Para protect
1
1
1
1
Enable SW
2
2
2
2
Basic parameter default
Deceleration pattern
deceleration
Unit name
Part no. of each product
W-AREA1
0.00
0.00
0.00
0.00
W-AREA2
0.00
0.00
0.00
0.00
ORG Correct
0.00
0.00
0.00
0.00
Sensor type
1
1
1
1
Option set1
0
0
0
0
Undefined parameter11
1
1
1
1
Undefined parameter12
1
1
1
1
LEHS Return to origin parameter default
Return to origin parameter default
Model
LEHS10
LEHS20
LEHS32
LEHS40
ORIG direction
2
2
2
2
ORIG mode
1
1
1
1
ORIG limit
100
100
100
100
ORIG time
100
100
100
100
ORIG speed
10
10
10
10
ORIG ACC/DEC
1000
1000
1000
1000
Creep speed
10
10
10
10
ORIG sensor
0
0
0
0
ORIG SW Dir
0
0
0
0
Undefined parameter21
0
0
0
0
- 87 -
Appendix 1.5 LER series setting value
LER Step data default
LER10K
LER10J
LER30K
LER30J
LER50K
LER50J
Lead[mm]
8
12
8
12
7.5
12
No.
0
0
0
0
0
0
Movement MOD
ABS
ABS
ABS
ABS
ABS
ABS
Speed
280
420
280
420
280
420
Position
0.00
0.00
0.00
0.00
0.00
0.00
Acceleration
3000
3000
3000
3000
3000
3000
Deceleration
3000
3000
3000
3000
3000
3000
Pushing force
50
50
50
50
50
50
Trigger LV
50
50
50
50
50
50
Pushing speed
20
30
20
30
20
30
Moving force
100
100
100
100
100
100
Area1
0.00
0.00
0.00
0.00
0.00
0.00
Area2
0.00
0.00
0.00
0.00
0.00
0.00
In position
0.50
0.50
0.50
0.50
0.50
0.50
Step data default
Model
- 88 -
LER Basic parameter default
Model
LER10K
LER10J
LER30K
LER30J
LER50K
LER50J
8
12
8
12
7.5
12
Lead[mm]
Controller ID
1
1
1
IO pattern
1
1
1
Acceleration/
1
1
1
S-motion ratio
0
0
0
Storoke(+)
1000.00
1000.00
1000.00
Storoke(-)
-1000.00
-1000.00
-1000.00
Maximum speed
280
Maximum acceleration/
3000
3000
3000
0.50
0.50
0.50
Basic parameter default
Deceleration pattern
420
280
420
280
deceleration
Default In position
0.00/Basic
5.00/External stopper(-2、3)
ORIG offset
Max force
50
50
50
Para protect
1
1
1
Enable SW
2
2
2
Unit name
Part no. of each product
W-AREA1
0.00
0.00
0.00
W-AREA2
0.00
0.00
0.00
ORG Correct
0.00
0.00
0.00
Sensor type
1
1
1
Option set1
0
0
0
Undefined parameter11
1
1
1
Undefined parameter12
1
1
1
LER Return to origin parameter default
Return to origin parameter default
Model
LER10K
LER10J
LER30K
LER30J
LER50K
ORIG direction
2
2
2
ORIG mode
1
1
1
ORIG limit
50
50
50
ORIG time
100
100
100
ORIG speed
20
ORIG ACC/DEC
1000
Creep speed
20
ORIG sensor
0
0
0
ORIG SW Dir
0
0
0
Undefined parameter21
0
0
0
30
20
30
1000
30
20
- 89 -
20
LER50J
30
1000
30
20
30
420
Appendix 1.6 LEP series setting value
LEPY Step data default
Model
LEPY6
Lead[mm]
4
No.
Movement MOD
Step data default
Speed
LEPY10
8
5
10
0
0
ABS
ABS
150
300*
200
350*
Position
0.00
0.00
Acceleration
3000
3000
Deceleration
3000
3000
Pushing force
100
100
100
100
Trigger LV
100
100
100
100
Pushing speed
10
20
10
20
Moving force
150
150
Area1
0.00
0.00
Area2
0.00
0.00
In position
0.50
0.50
* When the stroke is 25mm, the initial value becomes “250”.
- 90 -
LEPY Basic parameter default
Model
LEPY6
Lead[mm]
LEPY10
4
8
5
Controller ID
1
1
IO pattern
1
1
Acceleration/
1
1
S-motion ratio
0
0
Storoke(+)
1000.00
1000.00
Storoke(-)
-1000.00
-1000.00
Maximum speed
150
Maximum acceleration/
3000
3000
Default In position
0.50
0.50
ORIG offset
0.00
0.00
Max force
100
100
Para protect
1
1
Enable SW
2
2
10
Basic parameter default
Deceleration pattern
300
200
deceleration
Unit name
Part no. of each product
W-AREA1
0.00
0.00
W-AREA2
0.00
0.00
ORG Correct
0.00
0.00
Sensor type
1
1
Option set1
0
0
Undefined parameter11
1
1
Undefined parameter12
1
1
LEPY Return to origin parameter default
Return to origin parameter default
Model
LEPY6
LEPY10
ORIG direction
2
2
ORIG mode
1
1
ORIG limit
150
150
ORIG time
100
100
ORIG speed
LEP**J:20
LEP**K:10
LEP**J:20
LEP**K:10
ORIG ACC/DEC
3000
3000
Creep speed
20
20
ORIG sensor
0
0
ORIG SW Dir
0
0
Undefined parameter21
0
0
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350
LEPS Step data default
Model
LEPS6
Lead[mm]
4
No.
Movement MOD
Step data default
Speed
LEPS10
8
5
10
0
0
ABS
ABS
150
300*
200
350*
Position
0.00
0.00
Acceleration
3000
3000
Deceleration
3000
3000
Pushing force
100
100
100
100
Trigger LV
100
100
100
100
Pushing speed
10
20
10
20
Moving force
150
150
Area1
0.00
0.00
Area2
0.00
0.00
In position
0.50
0.50
* When the stroke is 25mm, the initial value becomes “250”.
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LEPS Basic parameter default
Model
LEPS6
Lead[mm]
LEPS10
4
8
5
Controller ID
1
1
IO pattern
1
1
Acceleration/
1
1
S-motion ratio
0
0
Storoke(+)
1000.00
1000.00
Storoke(-)
-1000.00
-1000.00
Maximum speed
150
Maximum acceleration/
3000
3000
Default In position
0.50
0.50
ORIG offset
0.00
0.00
Max force
100
100
Para protect
1
1
Enable SW
2
2
10
Basic parameter default
Deceleration pattern
300
200
deceleration
Unit name
Part no. of each product
W-AREA1
0.00
0.00
W-AREA2
0.00
0.00
ORG Correct
0.00
0.00
Sensor type
1
1
Option set1
0
0
Undefined parameter11
1
1
Undefined parameter12
1
1
LEPS Return to origin parameter default
Return to origin parameter default
Model
LEPS6
LEPS10
ORIG direction
2
2
ORIG mode
1
1
ORIG limit
150
150
ORIG time
100
100
ORIG speed
LEP**J:20
LEP**K:10
LEP**J:20
LEP**K:10
ORIG ACC/DEC
3000
3000
Creep speed
20
20
ORIG sensor
0
0
ORIG SW Dir
0
0
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350
Revision history
No.LEC-OM04501
Jan/2012 1st printing
No.LEC-OM04502
March/2012 Revision
･Pushing operation addition
･Addition to notes about UL recognition
4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN
Tel: + 81 3 5207 8249 Fax: +81 3 5298 5362
URL http://www.smcworld.com
Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer.
© 2012 SMC Corporation All Rights Reserved
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